非線性控制系統 Nonlinear Control systems--程登湖 / 交大

source: NCTU OCW         2018年3月1日
本課程是由交通大學機械工程學系提供。
The basics of nonlinear dynamic systems Stability of nonlinear systems Controller designs for nonlinear systems
課程資訊：http://ocw.nctu.edu.tw/course_detail-...
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1 6:46 課程介紹
2 13:27 第一週(1/2)--Brief review of Linear Systems / Phase Portraits / Why Nonlinear Control Systems? / Autonomous and Non-Autonomous Systems
3 42:54 第一週(2/2)--Brief review of Linear Systems / Phase Portraits / Why Nonlinear Control Systems? / Autonomous and Non-Autonomous Systems
4 25:01 第二週(1/2)--Brief review of previous lecture / Controllability - linear systems / Controllability - nonlinear systems
5 58:36 第二週(2/2)--Brief review of previous lecture / Controllability - linear systems / Controllability - nonlinear systems
6 28:53 第三週--Controllability - Linearized Systems / Stable, unstable, Asymptotically Stable / PD, PSD, ND, NSD / Lyapunov Theorem
7 57:43 第三週--Controllability - Linearized Systems / Stable, unstable, Asymptotically Stable / PD, PSD, ND, NSD / Lyapunov Theorem
8 28:23 第四週--Directional Derivatives / Lyapunov Theorem / Global, Semi-Global Local Stability / Lasalle’s Theorem
9 49:00 第五週--Invariant Set / Lasalle’s theorem / Radially unbounded functions / Nonautonomous systems Radially unbounded functions
10 27:37 第六週(1/2)--Radially unbounded functions / Nonautonomous systems / UUB (Uniformly ultimately bounded)
11 43:34 第六週(2/2)--Radially unbounded functions / Nonautonomous systems / UUB (Uniformly ultimately bounded)
12 32:11 第七週--Feedback Linearization / High gain controller
13 47:37 第八週--High gain controllers / High frequency controllers / Adaptive control / Summarization
14 34:46 第九週--Euler-lagrange systems / Controller design for tracking– with Exact Model Knowledge (EMK)
15 46:53 第九週(1/3)--Euler-Lagrange Systems / Robust Control / Adaptive Control
16 30:41 第九週(2/3)--Euler-Lagrange Systems / Robust Control / Adaptive Control
17 20:02 第九週(3/3)--Euler-Lagrange Systems / Robust Control / Adaptive Control
18 30:09 第十週--Backstepping (1/3)
19 24:54 第十週--Backstepping (2/3)
20 39:23 第十一週--Backstepping (3/3) / Mechatronic Systems / Without using Backstepping / Backstepping
21 22:22 第十二週--Backstepping – Systems with Disturbance
22 10:46 第十三週--Adaptive Backstepping
23 23:08 第十四週--DCAL (Design Compensation Adaptive Law) (½)
24 57:06 第十四週--DCAL (Design Compensation Adaptive Law) (2/2)
25 31:25 第十五週--請參考Survey Paper：http://onlinelibrary.wiley.com/doi/10...
26 25:10 第十六週--Robust Integral of Sign of Error (RISE) Control / RISE with Multilayer Neural Network (MNN)
27 29:42 第十六週--Hybrid Systems / Switched Systems / Common Lyapunov Function / Switching between Unstable Systems / Multiple Lyapunov-Like Functions