Course Syllabus

Course Information：

Year-Semester Course Number Course Name Phase Credits Hours Required/Elective Instructor Class Student NO. Withdraw Note

Spring Semester
Year 2026 356904 Computerized Motion Control 1 3.0 3 ★ CHIN-SHENG CHEN GAT 15 0 　

Year-Semester	Course Number	Course Name	Phase	Credits	Hours	Required/Elective	Instructor	Class	Student NO.	Withdraw	Note
Spring Semester Year 2026	356904	Computerized Motion Control	1	3.0	3	★	CHIN-SHENG CHEN	GAT	15	0

Course Plan：

Instructor CHIN-SHENG CHEN　Office Hours

Email saint@ntut.edu.tw

Last Updated 2025-12-18 18:25:17

Course Objective 電腦運動控制課程包含下列課題：(1) 命令產生器設計， (2)運動本體與回授系統介紹， (3)基礎迴授控制器設計， (4)前饋控制器設計， (5)估測器設計，(6)多軸路徑控制， (7) 案例探討 -- 半導體、LCD設備與機器人。學生從這門課程中可學到運動控制的理論與如何利用硬體控制平台去完成一套運動控制系統。 This course is a graduate-level introductory course to the fundamentals of computerized motion control. The topics of this course include: (1) command generation, (2) devices of motion control , (3) feedback control, (4) feedforward control, (5) observer design, (6) multi-axis control, (7) case study. Students can understand the techniques used in the field of computerized motion control. In addition, students will be using the above techniques to implement a real motion control system.

Course Schedule 第一週, 2/26: 課程介紹第二週, 3/5: 電腦運動控制介紹第三週, 3/12: 命令產生器設計第四週, 3/19: 加減速設計第五週, 3/26: 運動本體與回授系統介紹第六週, 4/2: 運動本體與回授系統介紹第七週, 4/9: 迴授控制器設計第八週, 4/16: 迴授控制器設計第九週, 4/23: 期中報告第十週, 4/30: 迴授控制器設計第十一週, 5/07: 系統參數鑑別/ 前饋控制器設計第十二週, 5/14: 前饋控制器設計第十三週, 5/21: 估測器設計與擾動補償第十四週, 5/28: 多軸控制第十五週, 6/04: 多軸控制第十六週, 6/11: 即時控制系統介紹第十七週, 6/18: 業界講師演講第十八週, 6/25: 期末專題報告

Evaluation and grading policy 作業 (3~4): 50% 期中考: 20% 期末專題: 30%。 Homework assignment (3~4): 50% ; Midterm: 20% ; Term project: 30%.

Materials All right reserved. Do not reproduce without permission.

Foreign-language textbooks:Yes
Background Knowledge: 1. a or b (a. Automatic Control, Digital Signal processing, b. Digital Control), 2. Matlab/ Simulink: simulation tool, 3. C/C++: implementation tool. Textbook： 1. 1. Hakan Grocak, “Industrial Motion Control: Motor Selection, Drivers, Controller tuning, ” WILEY, 2016. 2. Handout edited by the instructor, 3. Selected paper. Reference： 1. Suk-Hwan Suh, Seong-Kyoon Kang, Dae-Hyuk Chung, Ian Stroud, “ Theory and Design of CNC System”, Springer, 2008. 2. Chuck Raskin, “Designing With Motion Handbook: Design-Integration-Software Tips and Techniques”, Newnes; 5th edition, 1997. 3. Y. Date, “Servo Motor and Motion Control Using Digital Signal Processors”, Prentice Hall, Englewood Cliffs, NJ, 1990 4. Hamid A. Toliyat, Steven Campbell, “DSP-Based Electromechanical Motion Control”, CRC Press, 2003. 5. ”Handbook of AC Servo Systems”, from www.motiononline.com supported by Automation Intelligence, Inc., Issued: 18/Jun/01 6. 楊憲東，〝精密機械控制原理與模擬〞，全華圖書 7. 施慶隆、李文猶，〝機電整合控制—多軸運動設計與應用〞，全華圖書

The access to curricular consultation Office Hours:
Wednesday 09:00-18:00
Integrate Technology Complex, Room 604-2

Expanding teaching and resources

The course corresponds to the SDGs SDG7：可負擔的潔淨能源（Affordable and Clean Energy）

Does the course incorporate AI ● 鼓勵學生使用生成式AI工具（Encourage students to use generative AI tools）
● 簡單介紹AI的基本概念（Briefly introduce the basic concept of AI）

Note
若因疫情而暫停實體上課時，將使用Google Meet 視訊上課；
會議網址: https://meet.google.com/ybn-xmqe-wbq

Instructor	CHIN-SHENG CHEN　Office Hours
Email	saint@ntut.edu.tw
Last Updated	2025-12-18 18:25:17
Course Objective	電腦運動控制課程包含下列課題：(1) 命令產生器設計， (2)運動本體與回授系統介紹， (3)基礎迴授控制器設計， (4)前饋控制器設計， (5)估測器設計，(6)多軸路徑控制， (7) 案例探討 -- 半導體、LCD設備與機器人。學生從這門課程中可學到運動控制的理論與如何利用硬體控制平台去完成一套運動控制系統。 This course is a graduate-level introductory course to the fundamentals of computerized motion control. The topics of this course include: (1) command generation, (2) devices of motion control , (3) feedback control, (4) feedforward control, (5) observer design, (6) multi-axis control, (7) case study. Students can understand the techniques used in the field of computerized motion control. In addition, students will be using the above techniques to implement a real motion control system.
Course Schedule	第一週, 2/26: 課程介紹第二週, 3/5: 電腦運動控制介紹第三週, 3/12: 命令產生器設計第四週, 3/19: 加減速設計第五週, 3/26: 運動本體與回授系統介紹第六週, 4/2: 運動本體與回授系統介紹第七週, 4/9: 迴授控制器設計第八週, 4/16: 迴授控制器設計第九週, 4/23: 期中報告第十週, 4/30: 迴授控制器設計第十一週, 5/07: 系統參數鑑別/ 前饋控制器設計第十二週, 5/14: 前饋控制器設計第十三週, 5/21: 估測器設計與擾動補償第十四週, 5/28: 多軸控制第十五週, 6/04: 多軸控制第十六週, 6/11: 即時控制系統介紹第十七週, 6/18: 業界講師演講第十八週, 6/25: 期末專題報告
Evaluation and grading policy	作業 (3~4): 50% 期中考: 20% 期末專題: 30%。 Homework assignment (3~4): 50% ; Midterm: 20% ; Term project: 30%.
Materials	All right reserved. Do not reproduce without permission. Foreign-language textbooks:Yes Background Knowledge: 1. a or b (a. Automatic Control, Digital Signal processing, b. Digital Control), 2. Matlab/ Simulink: simulation tool, 3. C/C++: implementation tool. Textbook： 1. 1. Hakan Grocak, “Industrial Motion Control: Motor Selection, Drivers, Controller tuning, ” WILEY, 2016. 2. Handout edited by the instructor, 3. Selected paper. Reference： 1. Suk-Hwan Suh, Seong-Kyoon Kang, Dae-Hyuk Chung, Ian Stroud, “ Theory and Design of CNC System”, Springer, 2008. 2. Chuck Raskin, “Designing With Motion Handbook: Design-Integration-Software Tips and Techniques”, Newnes; 5th edition, 1997. 3. Y. Date, “Servo Motor and Motion Control Using Digital Signal Processors”, Prentice Hall, Englewood Cliffs, NJ, 1990 4. Hamid A. Toliyat, Steven Campbell, “DSP-Based Electromechanical Motion Control”, CRC Press, 2003. 5. ”Handbook of AC Servo Systems”, from www.motiononline.com supported by Automation Intelligence, Inc., Issued: 18/Jun/01 6. 楊憲東，〝精密機械控制原理與模擬〞，全華圖書 7. 施慶隆、李文猶，〝機電整合控制—多軸運動設計與應用〞，全華圖書
The access to curricular consultation	Office Hours: Wednesday 09:00-18:00 Integrate Technology Complex, Room 604-2
Expanding teaching and resources
The course corresponds to the SDGs	SDG7：可負擔的潔淨能源（Affordable and Clean Energy）
Does the course incorporate AI	● 鼓勵學生使用生成式AI工具（Encourage students to use generative AI tools） ● 簡單介紹AI的基本概念（Briefly introduce the basic concept of AI）
Note	若因疫情而暫停實體上課時，將使用Google Meet 視訊上課；會議網址: https://meet.google.com/ybn-xmqe-wbq