| 課程名稱 |
(中文) 適應控制 (英文) Adaptive Control |
開課單位 | 電機工程研究所 | ||
| 課程代碼 | E6600 | ||||
| 授課教師 | 江江盛 | ||||
| 學分數 | 3.0 | 必/選修 | 選修 | 開課年級 | 研究所 |
| 先修科目或先備能力：控制系統或線性系統 | |||||
| 課程概述與目標： 此課程提供給學習者，對於具有未知參數的系統，如何結合參數估計法則並推導出一套控制器的設計法則，可以確保受控系統的穩定度。 | |||||
| 教科書 | G. C. Goodwin and K. S. Sin (1984), "ADAPTIVE FILTERING, PREDICTION, AND CONTROL", Prentice-Hall Englewood Cliffs, N.J. | ||||
| 參考教材 | |||||
| 課程大綱 | 學生學習目標 | 單元學習活動 | 學習成效評量 | 備註 | ||
| 週 | 單元主題 | 內容綱要 | ||||
| 1 | INTRODUCTION TO ADAPTIVE TECHNIQUES | 1. Filtering 2. Prediction 3. Control |
適應控制技巧的簡介 |
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| 2 | MODELS FOR DETERMINISTIC DYNAMICAL SYSTEMS | 1. State-Space Models | 狀態空間的模式建立 |
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| 3 | MODELS FOR DETERMINISTIC DYNAMICAL SYSTEMS | 1. Difference Operator Representations 2. Models for Bilinear Systems |
差分運算子表示式 |
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| 4 | PARAMETER ESTIMATION FOR DETERMINISTIC SYSTEMS | 1. On-Line Estimation Schemes 2. Equation Error Methods for Deterministic Systems |
線上估計演算法及方程式誤差法 |
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| 5 | PARAMETER ESTIMATION FOR DETERMINISTIC SYSTEMS | 1. Parameter Convergence 2. Output Error Methods |
參數收斂及輸出誤差法 |
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| 6 | PARAMETER ESTIMATION FOR DETERMINISTIC SYSTEMS | 1. Parameter Estimation with Bounded Noise 2. Constrained Parameter Estimation |
具有雜訊的參數估計法 |
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| 7 | DETERMINISTIC ADAPTIVE PREDICTION | 1. Predictor Structures | 預估器的結構 |
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| 8 | DETERMINISTIC ADAPTIVE PREDICTION | 1. Direct Adaptive Prediction | 直接適應預估器 |
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| 9 | 期中考 | 期中考 | 期中考 |
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| 10 | DETERMINISTIC ADAPTIVE PREDICTION | 1. Indirect Adaptive Prediction | 間接適應預估器 |
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| 11 | CONTROL OF LINEAR DETERMINISTIC SYSTEMS | 1.Introduction 2. Minimum Prediction Error Controllers |
最小預估誤差控制器 |
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| 12 | CONTROL OF LINEAR DETERMINISTIC SYSTEMS | 1. Closed-Loop Pole Assignment | 閉迴路極點安置 |
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| 13 | CONTROL OF LINEAR DETERMINISTIC SYSTEMS | 1. The Internal Model Principle 2. Some Design Considerations |
內部模型原理及設計考量 |
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| 14 | ADAPTIVE CONTROL OF LINEAR DETERMINISTIC SYSTEMS | 1. The Key Technical Lemma | 關鍵技巧定理 |
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| 15 | ADAPTIVE CONTROL OF LINEAR DETERMINISTIC SYSTEMS | 2. Minimum Prediction Error Adaptive Controllers (Direct Approach&Indirect Approach) | 最小預估誤差試映控制器 |
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| 16 | ADAPTIVE CONTROL OF LINEAR DETERMINISTIC SYSTEMS | 1. Adaptive Algorithms for Closed-Loop Pole Assignment | 閉迴路及點安置適應演算法 |
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| 17 | ADAPTIVE CONTROL OF LINEAR DETERMINISTIC SYSTEMS | 1. Adaptive Control of Nonlinear Systems | 非線性系統的適應控制 |
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| 18 | 期末考 | 期末考 | 期末考 |
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教學要點概述： |