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教學大綱


本頁翻譯進度

燈號說明

審定：蔡明祺(簡介並寄信)
翻譯：吳泉興(簡介並寄信)
編輯：朱學恒(簡介並寄信)

一般資訊

教師授課：

每週3節。每節1小時。

講師：

John Deyst 教授
Karen Willcox 教授

複習/實習課：

每週1節。每節1小時。

實驗

實驗 1：第8次講課後的星期三
實驗 2：第25次講課的同一天
預定進度：尚未決定 (將提供幾個時段)。


閱讀教材

指定的

Vegte, John Van de.《回授控制系統》(Feedback Control Systems)第三版. Prentice Hall, 1994.
（譯註：繁體中文版為林淑君，黃維富譯，《回饋控制系統》第三版，東華，1995）

補充資料

下面的教科書收藏在航空圖書館，和巴克(Barker)工程圖書館：

Ogata, K《現代控制工程》(Modern Control Engineering)第二版, Prentice Hall, 1990.
（譯註：繁體中文版為盧伯英譯，《現代控制工程》，儒林，1993）

Kuo, Benjamin.《自動控制系統》(Automatic Control Systems) 第六版, Prentice Hall, 1991.
（譯註：繁體中文版為黃漢邦譯，《自動控制系統》，第七版，東華，1997<）/span>

另外

若沒有收藏，下列教科書的其中之一可輕易取得：

Ogata, K.《以MATLAB®解決控制工程問題》(Solving Control Engineering Problems with MATLAB®) Prentice Hall, 1994.

Kiev, B. C., 與 D. C. Hanselman. 《用於控制系統分析與設計的MATLAB® 工具》(MATLAB® Tools for Control System Analysis and Design) Prentice Hall, 1994.

Saleh, J. 《Simulink®概述》(Introduction to Simulink®) 1998. (講義)

數學資源

航空/天文數學網頁是線上數學資源，可重訪網頁獲得相關的數學資源。若有需要，我們也將在學期間開放其他的數學資源。如果你發覺你正掙扎於某個特別的數學觀念或是技巧，請傳達你的困境給其中一個教職員或助教，以便適時的提供資源。


實驗課

本學期將分配2次的實驗。每次實驗課前，一個附帶問題集的實驗前的作業將會先發出。這個實驗前的作業必須在實驗課前交出。前置作業不允許遲交，沒交出前置作業的實驗將不及格。所有的實驗將以2名學生為1組。每次實驗要求一次實驗報告。報告的到期日為實驗課後一週。


測驗

本學期將有2次的測驗：第一次與第17次的課堂課同一天，第二次與第31次的課堂課同一天。測驗將設計為1個小時。

期末測驗

將在學期末安排一次3個小時的考試。


作業

課堂後的星期四發出，下次課堂後的星期四為到期的。不允許遲交作業，除非是情有可原的特殊事件。


課程學習目標

  • 對回饋控制系統理論獲得一個基本的理解。
  • 獲得能夠利用時域和頻域技巧，分析和設計線性回饋控制系統的能力。
  • 對類似航太技術方面的系統，習得分析與設計能力與經驗上的傳承。

評分方式

項目 分數
家庭作業 25%
實驗 15%
助教評分 5%
測驗 30%
期末測驗 25%


麻省理工學院的評分方式可以在麻省理工學院課程目錄：大學生常規找到。

請注意下列的節錄文句：

麻省理工學院的成績並不限於僅和數字表示的成績或分配公式相關，換句話說，我們不會根據預先決定好的比例來給分。從下面對成績的敘述可以看出，一個課程的學生成績，是和他對這門課程的掌握程度有關，而和相對於身邊同學的表現之關聯較少。在決定一個學生的成績時，我們會考慮到表達力、獨創性、想像力，和原創度，並且適切地要求驗証這些要件。

及格分數

大學部和研究所學生完成：令人滿意的課程研習後，在學期末得到下述其中之一的分數等級：

  • A - 非常好的成績，代表對課程的內容，廣泛的基本知識和原理(題材)熟練的使用，非常了解。
  • B - 好的成績，學會適當的使用各種原理，對課程有好的理解，與處理問題的能力。
  • C - 差強人意的成績，對課程能充份理解，且能處理簡單的相關問題，對繼續學習這個領域的更高階課程，具備差強人意的預備知識。
  • D - 最低限度通過的成績，代表至少熟悉了部分的課程內容和能處理簡單的相關問題，但也表示出若無額外的努力，則不足以繼續學習這個領域的更高階課程。

電腦使用

使用軟體(如MATLAB® )對研習回授系統是非常有幫助的。一開始，這類軟體適合核對傳統上以筆和紙完成的習題。在第一次嘗試繪製這些工作時，如極座標圖(Nyquist 圖)、波德圖(Bode diagrams)和根軌跡(root loci)等，使用電腦來驗證尤其特別有效。此外，它也適用於對於時域和頻域的行為分析，協助建立在許多初步設計時所使用的兩者間關係的直覺概念。最後，藉助電腦輔助設計，我們能夠習得更複雜的課題，並且減輕大量計算過程中沈重的負擔。我們建議每一個人能在伺服器上熟悉MATLAB® 的使用，或學習MATLAB® 學生版的使用 (Prentice Hall, Englewood Cliffs, N.J.)，MATLAB® 學生版能夠在MS-DOS和麥金塔的個人電腦上運作。若在作業上是必要的，我們將提供能夠在伺服器上運作的程式碼(M-檔案)，這個程式碼能輔助你完成作業。我們將盡可能減少學生作類似「寫程式」之類的工作。記住，我們希望你能深度理解回饋理論。電腦是可以輔助你理解的工具，希望你將它視作工程學科上的工具，聰明的利用它。


共同研究與學術誠實

我們鼓勵你在解答作業時與他人合作。我們相信，當每一組中的學生都參與其中，並且分享彼此的知識時，這是一個很好的學習經驗。期末作業必須自己撰寫，但您必須感謝那些協助你的人們（列出他們）)他們。如果你運用其他的資料(例如：「代代相傳的筆記」，圖書館等等)，你也應該將它們列出。

複製他人(舊的解答或朋友的解答)的作業，並且將它們當成你的作業交出來是不成熟的，不誠實的，不可言喻的，浪費時間的，浪費紙張和無意義的因為這些問題能引導你學習這門課程所須的技巧，不自己完成作業是愚蠢的；在課堂測驗與期末考試你多半會表現很差。

抄襲或其他形式的舞弊行為是學術上和個人皆不誠實。這類的不誠實嚴重地違反本校和工程專業規則，且從嚴處理。
General Information

Lectures

Three sessions per week. One hour each session.

Instructors

Prof. John Deyst
Prof. Karen Willcox

Recitation

One session per week. One hour per session.

Lab

Lab 1: the week beginning four days after lecture 8.
Lab 2: the week beginning same day as on lecture 25.
Schedule: TBD (several time slots will be offered).


Reading Material

Required

Vegte, John Van de. Feedback Control Systems. 3rd ed. Prentice Hall, 1994.

Supplementary

The following texts are on reserve in the Aero Library and in the Barker Engineering Library:

Ogata, K. Modern Control Engineering. 2nd ed. Prentice Hall, 1990.

Kuo, Benjamin. Automatic Control Systems. 6th ed. Prentice Hall, 1991.

In Addition

While not on reserve, one of the following texts may come in handy:

Ogata, K. Solving Control Engineering Problems with MATLAB®. Prentice Hall, 1994.

Kiev, B. C., and D. C. Hanselman. MATLAB® Tools for Control System Analysis and Design. Prentice Hall, 1994.

Saleh, J. Introduction to Simulink®. 1998. (Handout)

Math Resources

An online math resource available at Aero/ Astro Mathematics Pages revisits relevant math material. Other math resources will be made available throughout the semester as necessary. If you find that you are struggling with a particular math concept or skill, please communicate your difficulties with one of the faculty or TA's so that appropriate resources can be provided.


Laboratory

There will be two lab assignments during the term. Each laboratory will be preceded by a pre-lab assignment issued with the corresponding problem set. The pre-lab assignment must be turned in before doing the laboratory work. No late pre-labs will be accepted and no lab credit will be given without the pre-lab. All laboratories will be carried out by teams of two students. A lab report is required for each lab. This report is due one week after your laboratory session.


Quizzes

There will be two exams during the term: first on same day as lecture 17 and the second one on same day as lecture 31. These will be designed as one-hour exams.

Final Exam

A three-hour examination will be scheduled during the final exam period.


Problem Sets

These will be issued on Thursday in lecture and due at the beginning of lecture on the following Thursday. Late problem sets will not be accepted, except in extenuating circumstances.


Course Learning Objectives

  • To obtain a basic understanding of feedback control systems theory.
  • To obtain the ability to perform analysis and design of linear feedback control systems, using both time and frequency domain techniques.
  • To gain hands on experience analyzing and designing controls for an aerospace-like laboratory system.

Grading Policy

ACTIVITY GRADE
Home Problems 25%
Laboratories 15%
TA Evaluation 5%
Quizzes 30%
Final Exam 25%


MIT's grading policy can be found at MIT Course Catalogue: Academic Procedures.

Please take note of the following excerpt:

Grades at MIT are not rigidly related to any numerical scores or distribution functions, that is, grades are not awarded solely according to predetermined percentages. As can be seen from the following grade descriptions, a student's grade in a subject is related more directly to the student's mastery of the material than to the relative performance of his or her peers. In determining a student's grade, consideration is given for elegance of presentation, creativity, imagination, and originality where these may appropriately be called for.

Passing Grades

Undergraduate and graduate students who satisfactorily complete the work of a subject by the end of the term receive one of the following grades:

  • A - Exceptionally good performance demonstrating a superior understanding of the subject matter, a foundation of extensive knowledge, and a skillful use of concepts and/or materials.
  • B - Good performance demonstrating capacity to use the appropriate concepts, a good understanding of the subject matter, and an ability to handle the problems and materials encountered in the subject.
  • C - Adequate performance demonstrating an adequate understanding of the subject matter, an ability to handle relatively simple problems, and adequate preparation for moving on to more advanced work in the field.
  • D - Minimally acceptable performance demonstrating at least partial familiarity with the subject matter and some capacity to deal with relatively simple problems, but also demonstrating deficiencies serious enough to make it inadvisable to proceed further in the field without additional work.

Computer Usage

The use of a software package like MATLAB® is very helpful in the study of Feedback Systems. The software can best be used initially to check work that is first done traditionally with pencil and paper. This is particularly helpful when verifying polar plots (Nyquist plots), Bode diagrams and root loci when first attempting to sketch these functions. In addition, step responses in the time domain can be examined in order to build an intuitive sense of the relations between time and frequency domain behavior. We also will use MATLAB® to check the validity of simplifying approximations that are often made when carrying out preliminary designs. Finally we can study more complex problems with a computer-aided design package without the enormous burden of doing extensive computations. We suggest that everyone become familiar with the use of MATLAB® on server or learn to use the Student Edition of MATLAB® (Prentice Hall, Englewood Cliffs, N.J.) which is available for MS-DOS and Macintosh® Personal Computers. Where necessary in the homework, we will indicate Macros (M-files) available on server which can be used to aid in studying the problem. We will try as much as we can to minimize the need for a student to have to do anything that 'smells' like programming. Remember that we want you to come away with an understanding of feedback theory in some depth. The computer is to aid in achieving this understanding and should be used intelligently as an engineering tool.


Collaboration and Academic Honesty

You are encouraged to collaborate with others on the solution of home problem sets. We believe that there is much to be gained when learning is a shared experience provided that everyone in the group participates in the work. If you do collaborate, the final work you hand in should be your own but you should acknowledge (by including their names) others with whom you have worked. If you use other sources (e.g. 'bibles', the library, etc.) they should also be acknowledged.

It is immature, dishonest, dumb, a waste of time, a waste of paper and nonsensical to copy the work of others (like an old solution or a friend's solution) and submit it as if it were your own. Since problems serve to guide you to develop the skills needed in the subject, not to do the work yourself is foolish; you probably will do poorly in the quizzes and the final examination.

Plagiarism or other forms of cheating are intellectually and personally dishonest. Such dishonesty is a severe breach of the code of the Institute and the engineering profession and will be dealt with seriously and severely.

 
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