本課程討論現今最佳的電腦輔助多變數線性非時變回授控制系統設計法則。其中包含以下幾個主題：

先修課程：

相關資源與文獻

今年並不需要教科書，所有必要的資料都將以課堂講稿提供給大家。

由Kemin Zhou 和 John C. Doyle二位先生透過Prentice Hall出版社所出版的《強健控制基礎》(Essentials of Robust Control)這 一本書，是對所有或幾乎所有與本課程相關資料一本詳細而且適當的參考書籍．任何一位想要仔細研讀以下關於H2與H∞最佳化，最佳化模型降階, 結構奇異值計算等註明演算法的人，都應該去買這一本書。擁有一份關於Matlab®軟體中有關µ值分析與合成法之工具箱使用手冊也是一個很好的想法。對於 那些主要對H2與H∞最佳化問題感興趣的人來說，那是一本寫得像「食譜」（朱註：意指按部就班說明）般的參考書。

教授

Alexandre Megretski教授

課程進度

課堂講演：
每週2節
每節1.5小時

作業

指定的作業通常會在每星期三的晚上放到網頁上，並且隔週的星期三就必須把作業交出來。所有用來完成作業或查看解答所需的軟體電子檔案，也會讓同學們可以透過網頁取得。作業的訂正、評分與發回會盡快地完成。作業的解答也會在發回作業後放到網頁上。

本課程鼓勵以團隊合作的方式討論產生解題的構想以及取得最有可能的解答，只是作業的解答與說明以及軟體程式的撰寫都必須自行完成。

MATLAB®

MATLAB®這一套以「工業運算語言」聞名的軟體會在本課程中廣泛地運用。大家會需要 Simulink®以及控制系統、LMI控制、m值分析與合成等軟體工具箱程式。應用這一套軟體於模擬與分析系統時，或許你會想要利用它線上的求助系統以 了解一般的使用方法和相關命令的語法。

測驗

在上課的過程當中會有兩個隨堂測驗（時間會在開學後儘速宣佈），但是沒有期末測驗。這兩個隨堂測驗會涵蓋本課程的理論部分（並盡可能均分相關的內容）。測驗的題目會以測驗前一星期發放的作業問題解答其中的觀念與想法為基礎來擬定

成績等第的計算

成績等第會在學期末利用以下公式計算出來的分數N來評定

N=0.5*H+0.25*Q1+0.25*Q2

其中H代表作業的平均分數，而Q1、Q2則是隨堂測驗的分數(H、Q1、Q2的範圍都是從0到 100) 。成績等第邊界分數的選擇，會由整個班級分數N的分布情形來決定。對於那一些成績落在邊界分數的同學，其他例如努力程度、課堂活動參與度等相關因素也會被 用來決定他們最後的成績等第。

This course studies state-of-the-art computer-aided design methodologies for multivariable linear time invariant feedback control systems. Topics include:

Prerequisites for this course are:

Information Resources and Literature

This year, there will be no required textbook. All necessary information will be supplied in the lecture notes.

The book Essentials of Robust Control by Kemin Zhou and John C. Doyle, published by Prentice Hall is a detailed and reasonably modern reference to all or almost all technicalities related to the class material. Anyone who wants to go through the fine details of the famous algorithms for H2 and H-infinity optimization, optimal model order reduction, structured singular values computation etc. will be well advised to buy this book. It may also be a good idea to get hold of a copy of the MATLAB® manual for the Mu-Analysis and Synthesis Toolbox: this is a well-written "cookbook" style reference for those primarily interested in applications of H2 and H-Infinity optimization.

Instructor

Prof. Alexandre Megretski

Class Schedule

Lectures:
Two sessions / week
1.5 hours / session

Homework

Homework assignments are usually posted on the Web on Wednesdays evenings. Homework papers are to be submitted during the next Wednesday. All electronic files used to complete the homework or to visualize the solutions are to be made accessible. The homework will be corrected, graded, and returned as soon as possible. Solutions to the homework will be posted on the Web when the corrected homework is returned.

Team work on home assignments is strictly encouraged, as far as generating ideas and arriving at the best possible solution is concerned. However, you have to write your own comments and your own code.

MATLAB®

MATLAB®, the "language of technical computing," will be used extensively. We will need Simulink® and the Control Systems, LMI Control, and Mu-Analysis and Synthesis Toolboxes. You may wish to consult its online help for general information and for specific commands for simulating and analysing systems.

Examinations

There will be two quizzes, given during lecture hours (dates to be announced soon after beginning of the semester), but no final exam. The quizzes will cover the theory of 6.245 (divided as equally as possible). The questions will be based on the ideas used in the problem set solutions made available at least a week before the test.

Grading

The letter grade will be determined at the end of the semester from a numerical grade N, obtained from the formula

N=0.5*H+0.25*Q1+0.25*Q2

where H is the average homework grade, and Q1, Q2 are quiz grades (H, Q1, Q2 are numbers between 0 and 100). From the distribution of N for the entire class, boundaries will be chosen to define letter grades. For students near the boundaries, other factors may be taken into account to determine the letter grade, such as effort, classroom activity, etc.