作業 (20%)
正式考試 2 次 (各40%)
長庚大學電機系
State feedback and state estimation
Controller and observer design
Minimal realizations (option)
Measure of controllability (option)
長庚大學電機系
1-10
評 量 標 準
Theoretical analysis rather than trial and errors.
Theoretical analysis is important because
– physical system is usually too expensive or too dangerous to be experimented – thorough understanding of system behaviors
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線 性 系 統 理 論 Linear System Theory
林心宇 長庚大學電機工程學系
2010秋
長庚大學電機系
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教師資料
教師：林心宇
– – – – Office Room: 工學大樓六樓 Telephone: Ext. 3221 E-mail: shinylin@.tw Office Hour: 2:00 – 4:00 pm, Thursaourse
Broad applications cover many areas such as control systems, signal processing, communications, aeronautics, etc.
Availability of powerful toolbox MATLAB
長庚大學電機系
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課 程 簡 介
Mathematical description of systems Review of Linear Algebra (when necessary)
State-space solutions and realization
Stability Controllability and observability
l unstretched l
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l +s
m
x
m
s
x=0
equilibrium position mg – ks =0
in motion
– Observed from experiment: damping force ~ velocity – By Newton’s Law:
mg k (s x) x kx x mx x kx 0 mx
Interpretation
Analytic Solutions, Numerical Solutions, or Qualitative Analysis
Understanding Prediction system’s behavior)
Control (Change
長庚大學電機系
Spring/mass system:
長庚大學電機系
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課程目標及背景需求
介紹如何以數學模式去分析線性系統，並 介紹穩定性、可控性、可觀測性、狀態迴 授及估測等重要觀念，以及如何設計控制 器、觀測器。 背景需求
– Linear Algebra – Elementary Differential Equation
長庚大學電機系
長庚大學電機系
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Why Need Theoretical Background
To investigate more insight of system behavior
長庚大學電機系
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Physical Model
Physical Laws
Mathematical Model
Solving
長庚大學電機系
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教
• Textbook:
科
書
– C.-T. Chen, Linear System Theory and Design, 3rd Ed., Oxford University Press, 1999.
• Reference:
– T. Kailath, Linear Systems, Prentice-Hall, 1980.