控制系統
( Control Systems )
Electrical Engineering Department
National Taiwan University
109-2 (Feb - Jun, 2021)
----- News & Actions -----
  • Action Items: (1/1/21)
  • Week 01 (2/26, 2021)
  • References (updated on 1/3/20)
  • Books:
    • Feedback Control of Dynamic Systems (8th Ed., 2019)
    • - by Gene F. Franklin, J David Powell, Abbas Emami-Naeini,
      - 出版社: Pearson
      - 代理商: 滄海書局
      - 參考資料: --- (Info of 8th Ed. 2019)
    • Modern Control Systems
    • - by Richard C. Dorf, Robert H. Bishop, (13th Ed., 2017)
      - 出版社: Pearson
      - 代理商: 巨擘書局
      - 舊版資料: PDF of 12th Edition (參考用)
    • Control Tutorials for MATLAB and Simulink
    • - by Bill Messner and Dawn Tilbury, (1996, 1997, 2011, 2017, 2019)
      - 資料: Website: Control Tutorials
    • Feedback Systems: An Introduction for Scientists and Engineers
    • - by Karl J. Astrom and Richard M. Murray, (2nd Ed., 2019)
      - 出版社: fbsbook.org
      - 資料: PDF (參考用)
    • Feedback and Control for Everyone
    • - by Pedro Albertos, Iven Mareels, (13th Ed., 2010)
      - 出版社: Springer
      - 資料: PDF (參考用)
  • Notes:
    • -
  • OLD news are moved to the bottom of the webpage.
  • ----- Lecture Notes -----
    Wk Date Subject Lecture PDF Video HW
    18 6/30
    Tue
    Evaluation
    - 針對專題報告,進行評分 . . . 評分表 - 上傳評分表
    17 6/22
    Mon
    Project Report
    - 繳交專題報告
    - Guidelines: U12_IntroCourse (11, 31, 32)
    - New Example:
    - . . . . . QuadrotorDrone.pdf
    - . . . . . QuadrotorDrone.pdf (Marked)
    - Control Tutorials Webiste: Webiste Link
    -
    - 一份 pptx 報告
    - 一段影片
    -
    16 6/19 No Lectures
    - -
    15 6/12 Final Exam
    -
    - Unit 5 and Unit 6
    -
    - 參考答案
    14 6/5 Case Study
    -
    - Chapter 10
    .......... Outline of Control Systems Design
    .......... Satellite’s Attitude Control
    .......... Lateral & Longitudinal Control of Boeing
    .......... Fuel–Air Ratio in an Automotive Engine
    .......... Read Write Head of a Hard Disk
    .......... RTP Systems in Wafer Manufacturing
    .......... Chemotaxis Swims Away from Trouble
    .......... Quadrotor Drone
    - Control Tutorials Website
    .......... Cruise Control
    .......... Motor Speed
    .......... Motor Position
    .......... Suspension
    .......... Inverted Pendulum
    .......... Aircraft Pitch
    .......... Ball & Beam
    -
    .................. ..................
    - Lecture Note (PDF) & Matlab Code (m)
    - U70_Overview
    - U7A_CSDesignSatelliteAirplane
    - U7B_EngineHardDiskWaferEcoli
    - U7C_ControlTutorial
    -

    13 5/29 Bode Plot
    - Design

    - Lecture Note (PDF) & Matlab Code (m)
    ..................
    - U60_Root Locus (s) and Bode Plot (w)
    ..................
    - U6G_GainPhaseRelationship
    .................. u6G_p07_Ex614.m
    - U6H_CLFreqResp
    ..................
    - U6I_PDLeadCompensation
    .................. u6I_p09_Ex615_Lead.m
    .................. u6I_p10_Ex615_RL.m
    .................. u6I_p10_Ex615_Step.m
    .................. u6I_p14_Ex616_Lead.m
    .................. u6I_p16_Ex616_Step.m
    .................. u6I_p18_Ex617_BP.m
    - U6J_PILagCompensation
    .................. u6J_p06_Ex618_BP.m
    .................. u6J_p07_Ex618_Step.m
    .................. u6J_p08_Ex619_BP.m
    .................. u6J_p09_Ex619_Step.m
    - U6K_PIDCompensation
    .................. u6K_p05_Ex620_BP.m
    .................. u6K_p12_Ex620_Step.m
    - U6L_CharacConsider
    ..................
    ------------ ====== U6G-U6M ====== ------------
    ... U60 Overview
    ... U6G GainPhaseRelationship
    ... U6H CLFreqResp
    ... U6I PDLeadCompensation - 1
    ... U6I PDLeadCompensation - 2
    ... U6J_PILagCompensation
    ... U6K_PIDCompensation
    ... U6L_CharacConsider
    ... U6M_Summary on U5 and U6 for Final Exam
    - HW10
    By 6/5
    (noon)


    - Solution
    12 5/22 Bode Plot
    - Analysis

    - Lecture Note (PDF) & Matlab Code (m)
    ..................
    - U6C_NMPhaseSSError
    .................. u6C_p03_nmphase.m
    - U6D_NeutralStability
    .................. u6D_p04_BP_diffK.m
    - U6E_NyquistStabilityCriterion
    .................. u6E_p11_Ex608.m
    .................. u6E_p14_Ex609.m
    .................. u6E_p16_Ex610.m
    .................. u6E_p18_Ex611.m
    - U6F_StabilityMargins
    .................. u6F_p14_ConditionalStable.m
    .................. u6F_p15_Ex612.m
    .................. u6F_p16_Ex613_BP.m
    .................. u6F_p16_Ex613_NP.m
    -
    -
    - Lecture Video (Youtube)
    -
    ------------ ====== U6C-U6F ====== ------------
    ... U6C NMPhaseSSError
    ... U6D NeutralStability
    ... U6E NyquistStabilityCriterion A
    ... U6E NyquistStabilityCriterion B
    ... U6E NyquistStabilityCriterion C
    ... U6F StabilityMargins
    ...
    - HW09
    By 5/29
    (noon)


    - Solution
    11 5/15 Bode Plot
    - Basics

    -
    - Lecture Note (PDF) & Matlab Code (m)
    -
    - U60_Root Locus (s) and Bode Plot (w)
    ..................
    - U6A_FrequencyResponse
    .................. u6A_p08_Ex602.m
    .................. u6A_p09_BP_AllZeta.m
    - U6B_BodePlotTechnique
    .................. u6B_p12_1st_order.m
    .................. u6B_p22_Ex603_All_3Part.m
    .................. u6B_p23_Ex604.m
    .................. u6B_p25_Ex606.m
    -
    - Lecture Video (Youtube)
    -
    ------------ ====== U6A-U6B ====== ------------
    ... U60_1_Overview Unit 6 Project
    ... U60 2 From Signals Systems
    ... U6A Frequency Response
    ... U6B Bode Plot Techniques
    ...
    - HW08
    By 5/22
    (noon)


    - Solution
    10 5/8 Root Locus
    -
    - Lecture Note (PDF) & Matlab Code (m)
    -
    - U50_Root Locus (s) and Bode Plot (w)
    .................. u50_u60_s_w_step_impulse.m
    .................. u50_p17_DifferentPD.m
    - U53_Root Locus Examples
    .................. u53_p02_Ex0.m
    .................. u53_p03_Ex503.m
    .................. u53_p05_Ex504.m
    .................. u53_p06_Ex505.m
    .................. u53_p07_Ex506.m
    .................. u53_p09_Ex507.m
    .................. u53_p10_Ex508.m
    .................. u53_p15_Ex509.m
    .................. u53_p17_Ex510.m
    .................. u53_p18_Ex510.m
    - U54_DynamicCompensation
    .................. u54_p04_Ex0.m
    .................. u54_p05_Ex0.m
    .................. u54_p06_Ex511.m
    .................. u54_p06_Ex511.m
    .................. u54_p07_Ex511_70.m
    .................. u54_p07_Ex511_91.m
    .................. u54_p09_Ex0.m
    .................. u54_p11_Ex0.m
    .................. u54_p11_step.m
    - U55_DesignExamples
    .................. u55_p04_Ex512_rootlocus.m
    .................. u55_p04_Ex512_step.m
    .................. u55_p06_Ex512_lead.m
    .................. u55_p07_Ex512_KT.m
    .................. u55_p10_Ex512_disturb.m
    .................. u55_p11_Ex512_step.m
    - U56_Extensions
    .................. u56_p06_Ex513_negative.m
    .................. u56_p08_Ex514_KA.m
    -
    - Lecture Video (Youtube)
    -
    ------------ ====== U53-U56 ====== ------------
    ... U50 Overview
    ... U53_2_RLExample on 05-08
    ... U53_3_RLExample on 05-08
    ... U54_DynamicCompensation
    ... U55_DesignExamples
    ... U50_4_Refresh
    ... U56_Extensions
    -
    - HW07
    By 5/15
    (noon)



    - Solution
    09 5/1 Root Locus
    -
    - Lecture Note (PDF) & Matlab Code (m)
    -
    - U50_Root Locus (s) and Bode Plot (w)
    .................. u50_u60_s_w_step_impulse.m
    - U51_Root Locus Basic
    .................. u51_p07_Ex0.m
    - U52_Root Locus Guidelines
    .................. u52_p17_3rd.m
    - U53_Root Locus Examples
    -
    - Lecture Video (Youtube)
    -
    ------------ === U51 - U53 === ------------
    ... U50 IntroToToday
    ... U50 IntroTo U5 U6
    ... U51 RLBasic
    ... U52 RLGuidelines
    ... U52 RLGuidelines Summary
    ... U53 RLExamples A
    -
    - HW06
    By 5/8
    (noon)



    - Solution
    08 4/24 Midterm Exam
    -
    - Unit 3 and Unit 4
    -
    - - 參考答案
    07 4/17 Feedback
    Analysis

    -
    - Lecture Note (PDF) & Matlab Code (m)
    -
    - U43_PIDControl
    .......... u43_p05_P.m
    .......... u43_p09_I.m
    .......... u43_p15_e405.m
    - U44_ZieglerNicholsTuning
    .......... u44_p05_ex408_P_PI.m
    .......... u44_p05_ex409_ZNTuning.m
    - U45_PlantModelInversion
    .......... u45_p04_tracking.m
    .......... u45_p05_rejection.m
    -
    - Lecture Video (Youtube)
    -
    ------------ ====== U43 ====== ------------
    ... Overview
    ... PID Control
    ... Proportional Control
    ... Integral Control
    ... Derivative Control
    ... PI Control
    ... PID Control
    -
    ------------ ====== U44 ====== ------------
    ... Overview
    ... Ziegler–Nichols Tuning of PID Controller
    ... Method 1: Step Response w/ 0.25 Decay
    ... Method 2: Ultimate Sensitivity Method
    ... Ex 4.8
    ... Ex 4.9
    -
    ------------ ====== U45 ====== ------------
    ... Overview
    ... Feedforward Control
    ... By Plant Model Inversion
    ... Ex 4.10 Tracking
    ... Ex 4.10 Rejection
    -
    - HW05
    不用交

    - Solution
    06 4/10 Feedback
    Analysis

    -
    - Lecture Note (PDF)
    -
    --- U40_FeedbackAnalysis
    --- U41_BasicEquation
    --- U42_SystemType
    -
    - Lecture Video (Youtube)
    -
    ------------ ====== U40 ====== ------------
    ... Overview

    ------------ ====== U41 ====== ------------
    ... Overview
    ... OL & CL Systems
    ... Stability, Tracking, Regulation, Sensitivity
    ... Stability
    ... Tracking
    ... Regulation
    ... Sensitivity

    ------------ ====== U42 ====== ------------
    ... Overview
    ... Steady-State Error to Polynomial Inputs
    ... System Type for Tracking
    ... Example 4.1
    ... Example 4.2
    ... From CL Transfer Function
    ... System Type for Regulation and Rejection
    -
    - HW04
    By 4/17
    (noon)


    - Solution
    05 4/3 Holiday
    - - -
    04 3/27 Dynamic
    Response

    -
    - U33_PoleLocation
    - U34_TimeSpec
    - U35_ZerosAddPoles
    - U36_Stability
    -
    -
    - U33 - - - U34
    - U35 - - - U36
    -
    - Live 1
    -
    - HW03
    By 4/10
    (noon)


    - Solution
    03 3/20 Dynamic
    Response

    -
    - U31_LaplaceTransform
    - U32_BlockDiagram
    - U33_PoleLocation
    -
    -
    - Preview & HW02
    -
    - U31-A - - - U31-B
    - U32 - - - -- U33
    -
    - Live 1
    -
    - HW02
    By 3/27
    (noon)


    - Solution
    02 3/13 Dynamic
    Models

    -
    - U14_Example
    - U15_EmergentEx
    -
    - U21_Translational
    - U22_Rotational
    - U23_Combined
    ---- Additional Note
    ------ Complex Mech Syst
    ---- U24_Distributed
    - U25_ElectricCircuit
    - U26_ElectroMech
    ---- U27_HeatFluid
    -
    - Summary
    -

    - Outline
    -
    - U14 - U15
    - U21 - U22 - U23
    - U25 - U26
    -
    - HW01
    -
    - Live 1
    - HW01
    By 3/20
    (noon)


    - Solution
    01 3/6 Introduction
    Lecture Outline
    Exams & HWs
    -
    - U00_Classroom View
    - U11_IntroFeedbackControl
    - U12_IntroCourse
    - U13_OverviewHistory
    - U14_Example
    -

    - U00
    -
    - U11 - U12 - U13
    -
    - Live 1 - Live 2
    -
    Wk Date Subject Lecture PDF Code HW
    ----- Homeworks -----
    • Homework Assigment (updated on //20)
      • Assigned: /, 2020 , Deadline: /, 20120
      • Topics: DE
        - Problem 1:
        ....... Given the system
      • Actions:
        - Submit it on / in class
        ....... on summarizing the information you catch from each section.

    ----- Course Information -----
    • What:
      • Topics: Control Systems
      • Course No: EE3024
      • Credit: 3
    • Who:
      • Students:
        • Undergraduate Students
      • Instructor:
        • Name: Feng-Li Lian (連豊力)
        • Office: EE-MD717
        • Phone: 02-3366-3606
        • Email: fengli@ntu.edu.tw
      • 助教:
        • Name: 王捷
        • Office: EE-MD601
        • Phone: 02-3366-3680
        • Email: r08921075@ntu.edu.tw
    • When:
      • Lectures: 1:20pm-4:20pm, Fridays (Feb 2020 - Jun 2020)
      • Office Hours: appointment by e-mail
    • Where:
    • Why:
      • Key course for EE students
      • Short-Term Goal:
        - Understand feedback and control
        - Manipulate engineering syetems
      • Long-Term Goal:
        - Analyze and design all kinds of dynamic systems
    • How:
      • Preview: ~2 hours/per week
      • Lecture: ~3 hours/per week
        • Demonstration, derivation and practice, etc.
      • Review: ~2 hours/per week
      • Homework: ~2 hours/per week
      • Q & A & lecture participation:
        • group discussion
        • lecture questionnaire
        • e-mail
        • website etc.
    • TextBooks:

    • Course Outline:

      • 1. An Overview and Brief History of Feedback Control
      • 2. Dynamic Models
      • 3. Dynamic Response
      • 4. A First Analysis of Feedback
      • 5. The Root-Locus Design Method
      • 6. The Frequency-Design Method
      • 7. State-Space Design
      • 8. Digital Control
      • 9. Nonlinear Systems
      • 10. Control System Design: Principles and Case Studies

    • Grading:
      • Homeworks etc.   20%
      • Projects etc.         20%
      • Exams etc.           60%

    =======================================================================
    ======================== ----- Old News in 109-2 (2021) ------ ========================
    =======================================================================

    • Special Lectures (updated on 1/1/21)
      • Month/Day: progress report
        - On the result of experimental tests
        - On the paper reading of related topics
    =======================================================================
    ======================== ----- Old News in 108-2 (2020) ------ ========================
    =======================================================================

    • Special Lectures (updated on 8/7/15)
      • Month/Day: progress report
        - On the result of experimental tests
        - On the paper reading of related topics
    • 學期結束之前,課程內容與進行方式 (5/28, 2020)
      • Week 13: 5/29, 2020
        . . . 主題:Unit 6: Bode Plot - Part C - Compensation Design
        . . . . . . 地點:at MS-Teams
      • Week 14: 6/5, 2020
        . . . 主題:Unit 7: Case Study
        . . . . . . 地點:明達館教室 231
      • Week 15: 6/12, 2020
        . . . 主題:期末考
        . . . . . . 地點:明達館教室 231
      • Week 17: 6/22, 2020
        . . . 繳交專題報告
        . . . . . . 地點:上傳報告檔案到 NTU-Cool
      • Week 18: 6/30, 2020
        . . . 專題報告評分
        . . . . . . 地點:上傳評分表到 NTU-Cool
    • 期末考考卷與閱卷討論方式 (on 6/22, 2020)
      • 答案卷:
        . . . 有參加應考同學,批改後的答案卷,已經上傳到 NTU-Cool 作業區
        . . . 點選期末考考卷的繳交作業的選項,隨便上傳一個檔案之後,
        . . . 就應該可以看到一個有您的學號的的檔案,
        . . . 請自行下載瀏覽
        . . . 對於答案或分數有疑慮者,請於下面時段進行進一步的討論
        . . . 參考答案
      • 問題與分數討論時間與方式:
        . . . 時間:
        . . . . . . 6/22 (Mon) 2:30pm - 4:00pm
        . . . 地點:
        . . . . . . 明達館 203 討論室(小教室)
    • Action Items: (3/20/20)
    • Week 18 (Before 6/30 中午, 2020)
    • Week 17 (6/22, 2020)
      • 專題報告
      • 期限:Before 6/22, Mon, 2020
      • 繳交資料:一份 pptx 報告 與 一段簡報影片
      • 繳交位置:上傳檔案到 NTU-Cool
        . . . 在 作業/專題報告區,有三個連結,
        . . . (A) 上傳 pptx 報告檔案
        . . . (B) 上傳 報告影片檔案
        . . . (C) 上傳 報告影片連結
        . . . . . (B) and (C)兩個選項為二選一,也就是,可以上傳影片的檔案,或連結。
        . . . . . 每位同學都要繳交,
        . . . . . 兩人一組也是需要上傳同樣的檔案到自己個別的帳號。
    • Week 16 (6/19, 2020)
      • No Lecture
    • 108-2 下半學期,課程內容與進行方式 (4/26, 2020)
      • 範圍:
        . . . Unit 5: Root Locus (期末考範圍
        . . . Unit 6: Bode Plot(期末考範圍
        . . . Unit 7: Case Study(專題報告範例
      • 時程:
        . . . 期末考:Week 15, 6/12 (Friday)
        . . . 專題報告:Week 17, Before 6/22 (Monday)
        . . . 專題報告互相評分:Week 18, Before 6/30 (Tuesday)
      • 課程進行方式: 線上直播討論
        • 時間:每週五下午 1:20pm-4:10pm
        • 使用平台:Microsoft Teams
          - 直播平台連結
          - 討論:課程講義,程式範例,問題Q&A等
          - 預計會錄影整個直播討論的過程,
          . . . . . . 因此, 可以事後登入系統,再觀看影片。
    • Week 15 (6/12, 2020)
      • Final Exam 期末考
      • 範圍:Unit 5 and Unit 6
      • 時間:6/12 (Fri), 2pm-4pm
        . . . 1:50pm 以前,場地布置時間
        . . . 1:50pm 之後,才能進場
      • 地點:一間教室,
        . . . 明達館 231:
      • 座位:請依照排定之位置入座
        . . . 每一個指定的座位桌上,
        . . . 僅有一份題目卷 與 兩張答案紙
      • 工具:僅能攜帶筆橡皮擦修正帶等書寫或塗改之文具
        . . . 不能使用電腦,計算機等其他設備或工具
      • 注意事項:
        . . . 參加考試,不強制戴口罩,建議戴口罩
        . . . 考試過程之中,助教會請您簽名
        . . . 書寫完畢或時間截止,請把題目與所有答案紙張繳交給助教
    • Week 14 (6/5, 2020)
      • 上課地點:明達館教室 231
      • Case Studies
        -
        - U70_Overview
        - U7A_Control System Design and Satellite, Airplane
        - U7B_More Case Studies: Engine, Hard Disk Wafer E-coli
        - U7C_Control Tutorial Website
      • No Homework
      • Final Exam on 6/12
    • Week 13 (5/29, 2020)
      • Bode Plot
        -
        - U60_Root Locus (s) and Bode Plot (w)
        - U6G_GainPhaseRelationship
        - U6H_CLFreqResp
        - U6I_PD and Lead Compensation
        - U6J_PI and Lag Compensation
        - U6K_PID Compensation
        - U6L_Compensation Characteristics
        - ..... & Design Considerations
      • HW10
        - By 6/5 (noon)
        - Submit your file (only one file of jpg or pdf)
        ----- to NTU-Cool (https://cool.ntu.edu.tw)
      • 課程進行方式: 線上直播討論
        • 時間:週五下午 1:20pm-4:10pm
        • 使用平台:Microsoft Teams
          - 直播平台連結
          - 討論:課程講義,程式範例,問題Q&A等
          - 預計會錄影整個直播討論的過程,
          . . . . . . 因此, 可以事後登入系統,再觀看影片。
    • Week 12 (5/22, 2020)
      • Bode Plot
        -
        - U60_Root Locus (s) and Bode Plot (w)
        - U6C_NMPhaseSSError
        - U6D_NeutralStability
        - U6E_NyquistStabilityCriterion
        - U6F_StabilityMargins
        - U6G_GainPhaseRelationship
        - U6H_CLFreqResp
      • HW09
        - By 5/29 (noon)
        - Submit your file (only one file of jpg or pdf)
        ----- to NTU-Cool (https://cool.ntu.edu.tw)
      • 課程進行方式: 線上直播討論
        • 時間:週五下午 1:20pm-4:10pm
        • 使用平台:Microsoft Teams
          - 直播平台連結
          - 討論:課程講義,程式範例,問題Q&A等
          - 預計會錄影整個直播討論的過程,
          . . . . . . 因此, 可以事後登入系統,再觀看影片。
    • Week 11 (5/15, 2020)
      • Final Project
        - Team: 1 or 2 students
        - Problem: From Chap 10, Control Tutorials Website, Yours
        - Task: Model (DE, TF); Analysis (Pole/Zero, Time, Freq); Design (RL, BP)
        - Report: PPTX, Video
        - Guidelines: U12_IntroCourse (Pages 11, 31, 32)
        - New Example: Book_Franklin-8th_10-5_QuadrotorDrone.pdf
        - Control Tutorials Webiste: Webiste Link
      • Bode Plot
        -
        - U60_Root Locus (s) and Bode Plot (w)
        - U6A_FrequencyResponse
        - U6B_BodePlotTechnique
        - U6C_NMPhaseSSError
        - U6D_NeutralStability
      • 參考資料:
        - 信號與系統 之
        - Continuous-Time Fourier Transform
        ................. Lecture Notes
        ................. ....... p. 47-60: Convolution & Multiplication Property
        ................. ....... p. 74-77: Fourier Transform for Solving DE
        ................. Lectgure Video
        - Time & Frequency Characterization
        ................. Lecture Notes
        ................. ....... p. 8: Mag & Pha
        ................. ....... p. 16: 1st order
        ................. ....... p. 26: 2nd order
        ................. ....... p. 27: Ex
        ................. Lectgure Video
        - Geometric Evaluation of Fourier Transform
        ................. ....... (pages 29 - 38)
        ................. Lecture Notes
        ................. Lectgure Video
      • HW08
        - By 5/22 (noon)
        - Submit your file (only one file of jpg or pdf)
        ----- to NTU-Cool (https://cool.ntu.edu.tw)
      • 課程進行方式: 線上直播討論
        • 時間:週五下午 1:20pm-4:10pm
        • 使用平台:Microsoft Teams
          - 直播平台連結
          - 討論:課程講義,程式範例,問題Q&A等
          - 預計會錄影整個直播討論的過程,
          . . . . . . 因此, 可以事後登入系統,再觀看影片。
    • Week 10 (5/8, 2020)
      • Root Locus
        -
        - U50_Root Locus (s) and Bode Plot (w)
        - U53_Root Locus Examples
        - U54_Dynamic Compensation
        - U55_Design Example
        - U56_Extensions
      • HW07
        - By 5/15 (noon)
        - Submit your file (only one file of jpg or pdf)
        ----- to NTU-Cool (https://cool.ntu.edu.tw)
      • 課程進行方式: 線上直播討論
        • 時間:週五下午 1:20pm-4:10pm
        • 使用平台:Microsoft Teams
          - 直播平台連結
          - 討論:課程講義,程式範例,問題Q&A等
          - 預計會錄影整個直播討論的過程,
          . . . . . . 因此, 可以事後登入系統,再觀看影片。
    • 期中考考卷與閱卷討論方式 (5/1, 2020)
      • 答案卷:
        . . . 有參加應考同學,批改後的答案卷,已經上傳到 NTU-Cool 作業區
        . . . 點選期中考考卷的繳交作業的選項,隨便上傳一個檔案之後,
        . . . 就應該可以看到一個有您的學號的的檔案,
        . . . 請自行下載瀏覽
        . . . 對於答案或分數有疑慮者,請於下面時段進行進一步的討論
        . . . 參考答案
      • 問題與分數討論時間與方式:
        . . . 時間:
        . . . . . . 5/4 (Mon) 16:00 - 17:00
        . . . . . . 5/5 (Tue) 10:30 - 11:30
        . . . 方式:
        . . . . . . 進入線上平台:Microsoft Teams - 平台連結
        . . . . . . 先留言:您的姓名與學號
        . . . . . . 接著,助教會依照留言順序,另外單獨一對一與您視訊,
        . . . . . . (請開攝影機,拍攝您的答案卷)
    • Week 9 (5/1, 2020)
      • Root Locus
        -
        - U50_Root Locus (s) and Bode Plot (w)
        - U51_Root Locus Basic
        - U52_Root Locus Guidelines
        - U53_Root Locus Examples
      • HW06
        - By 5/8 (noon)
        - Submit your file (only one file of jpg or pdf)
        ----- to NTU-Cool (https://cool.ntu.edu.tw)
      • 課程進行方式: 線上直播討論
        • 時間:週五下午 1:20pm-4:10pm
        • 使用平台:Microsoft Teams
          - 直播平台連結
          - 討論:課程講義,程式範例,問題Q&A等
          - 預計會錄影整個直播討論的過程,
          . . . . . . 因此, 可以事後登入系統,再觀看影片。
    • Week 9 (5/1, 2020)
      • Root Locus
        -
        - U50_Root Locus (s) and Bode Plot (w)
        - U51_Root Locus Basic
        - U52_Root Locus Guidelines
        - U53_Root Locus Examples
      • HW06
        - By 5/8 (noon)
        - Submit your file (only one file of jpg or pdf)
        ----- to NTU-Cool (https://cool.ntu.edu.tw)
    • Week 8 (4/24, 2020)
      • Midterm Exam 期中考
      • 範圍:Unit 3 and Unit 4
      • 時間:4/24 (Fri), 2pm-4pm
        . . . 1:50pm 以前,場地布置時間
        . . . 1:50pm 之後,才能進場
      • 地點:兩間教室,
        . . . 明達館 231:電機三 and 電機四
        . . . 明達館 205:電機二 and 其他
      • 座位:請依照排定之位置入座
        . . . 每一個指定的座位桌上,
        . . . 僅有一份題目卷 與 四張答案紙
      • 工具:僅能攜帶書寫或塗改之文具
      • 注意事項:
        . . . 參加考試,請全程戴口罩
        . . . 考試過程之中,助教會請您簽名
        . . . 書寫完畢或時間截止,請把題目與所有答案紙張繳交給助教
    • 講義錯誤更正 for U43 (4/18/20)
      • U43 講義有幾處錯誤:
        - page 5, U(s) / W(s) 的分子多了一個負號。
        - page 20, T_w (s) 的分子多了一個負號,
        . . . 其他對應算出來的常數數值,也是多出一個負號。
      • 講義區,U43的講義已經更新了。
    • Week 8 (4/24/20)
      • Midterm Exam
        在學校未宣布停止實體授課之前,依照下面方式進行:
        - 方式:筆試,僅能攜帶書寫或塗改之文具。
        - 範圍:Unit 3 and Unit 4
        - 地點:明達館教室
        - 注意事項:參加考試時,請依照指定位置入座,同時請配戴口罩
    • 線上直播討論 on 4/19/20:
      • 線上直播討論
        - On 4/19 (Sun)
        - At 14:00
        - At Microsoft Teams
      • 我們預計於 4/19 (Sun), 14:00,
        - 進行一個線上直播討論的活動,
        - 主要是讓您們可以問問題,
        - 或者線上面對面提出問題等。
      • 使用的平台是:Microsoft Teams,
        - 如果您已經開通了這個平台,
        - 我已經把您加入這個討論群組了。
        - 下面同學,我無法把您們加入到這個討論平台:
        - B07901187, B06901105, R08921101
        - 您們應該是還沒有加入這個平台,
        - 請到下面網站,
        - 使用您台大的帳號密碼,
        - 開通此項平台的使用權限:
        - https://www.microsoft.com/zh-tw/education/products/teams
      • 預計會錄影討論的過程,
        - 因此,無法參加者,
        - 可以事後登入系統,再觀看影片。
    • Week 7 (4/17/20)
      • Feedback Analysis
        - U43_PIDControl
        - U44_ZieglerNicholsTuning
        - U45_PlantModelInversion
      • HW05
        - 不用交
    • 調整課程進行方式 (4/1/20) :
      • 為了配合因為 COVID-19 疾病的影響,
        從四月份起,課程進行方式改採遠距方式進行下面課程活動:
        - 觀看線上影片:
        .......... 課程影片 每週五中午 之前上線,
        .......... 請至下面講義區點選對應課程連結。
        - 線上繳交作業:
        .......... 請於作業公告後,次週 週五中午 以前,
        .......... 上傳至 NTU-Cool 的作業區。
      • 接下來三週 (4/10, 4/17, 4/27) 的課程資訊,如下所示。
    • Week 6 (4/10/20)
    • Week 5 (4/3/20)
      • Holiday
    • Week 4 (3/27/20)
    • Week 3 (3/20/20)
    • Week 2 (3/13/20)
      • Introduction
        - U14 Motivating Example of Feedback and Control
        - U15 Emergent Example of Feedback and Control
      • Dynamic Models
        - U21 Translational Motion
        - U22 Rotational Motion
        - U23 Combined Rotation and Translation
        ------- U24 Distributed Parameter Systems
        - U25 Electric Circuits
        - U26 Electromechanical
        ------- U27 Flow Models - Heat and Fluid
        -
        - Summary
      • HW01
        - By 3/20 (noon)
        - Submit your file (only one file of jpg or pdf)
        ----- to NTU-Cool (https://cool.ntu.edu.tw)
    • Week 1 (3/6/20)
    • Lectures start on 3/6 (Friday) --- 1:20pm, at MD-231