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何明字 副教授

辦公室 工科系館五樓41507室
電話 +886-6-275-7575 ext.63349
傳真 +886-6-276-6549
電子信箱 bruceho@mail.ncku.edu.tw
實驗室 控制與訊號處理實驗室(工科系館五樓41506室)

開授課程

108學年度第一學期

  • 自動控制
  • 數位訊號處理

108學年度第二學期

  • 控制理論
  • 機器人原理

學歷

  • 美國德州農工大學電機工程學系博士(1993/9-1997/12)

  • 美國德州農工大學電機工程學系碩士(1991/9-1993/8)

  • 國立成功大學工程科學系學士(1984/9-1988/6)

經歷

  • 國立成功大學工程科學系副教授(2005/8-)

  • 國立成功大學工程科學系助理教授(1999/8-2005/7)

  • 錸德科技公司研究本部研究員(1998/3-1999/7)

  • 美國德州農工大學電機工程學系研究助理(1992/9-1997/12)

專長及研究領域

  • 線性與非線性控制理論及應用

  • 機器人核心技術

  • 訊號處理

榮譽及獎勵

  • 95年榮登在第23版之Who's Who in the World (2006)

  • 榮獲89學年度國科會研究獎勵甲種

  • 榮獲88學年度國科會研究獎勵甲種

  • 榮獲工學院英文專書著作獎勵

  • 當選本校98學年度教學優良教師

  • 當選本校102學年度教學優良教師

  • 榮獲2016年機械工業產學貢獻獎

  • 榮獲2016HERO@TAIWAN—『台灣之光-前瞻火箭計畫』

著作

A. Refereed Papers
  1. Ming-Tzu Ho, Yusie Rizal, Li-Ming Chu, “Visual Servoing Tracking Control of a Ball and Plate System: Design, Implementation and Experimental Validation,” International Journal of Advanced Robotic Systems, Vol. 10, pp. 1-16, 2013
  2. Yi-Wei Tu, Ming-Tzu Ho, “Robust Second-Order Controller Synthesis for Model Matching of Interval Plants and Its Application to Servo Motor Control,” IEEE Transactions on Control Systems Technology, Vol. 20, Issue: 2, pp. 530-537, 2012.
  3. Yi-Wei Tu, Ming-Tzu Ho, “Design and Implementation of Robust Visual Servoing Control of an Inverted Pendulum with an FPGA-based Image Co-processor,” Mechatronics, Vol. 21, Issue: 7, pp. 1170-1182, 2011.
  4. M. T. Ho, Y. W. Tu, and H. S. Lin, “Controlling A Ball and Wheel System Using Full-state-feedback Linearization [Focus on education]” IEE Proceedings Control Theory & Applications, Vol. 29, No. 5,93-101, Oct. 2009.
  5. M. T. Ho and Y. W. Tu, “Position Control of a Single-link Flexible Manipulator Using -based PID Control,” IEE Proceedings Control Theory & Applications, Vol. 153, No. 5, 615-622, Sep. 2006. (NSC 93-2218-E-006-089) (SCI, EI)
  6. M. T. Ho and S. T. Huang, “On the Synthesis of Robust PID Controllers for Plants with Structured and Unstructured Uncertainty,” International Journal of Robust and Nonlinear Control, Vol. 15, No. 6, 247-285, Apr. 2005. (NSC 91-2213-E-006-090) (SCI, EI)
  7. M. T. Ho and J. M. Lu, “H infinity PID Controller Design for Lur’e Systems and its Application to a Ball and Wheel Apparatus,” International Journal of Control, Vol. 78, No. 1, 53-64, Jan. 2005. (92-2213-E-006-070) (SCI, EI)
  8. 何明字,『具強健性能之PID控制器設計』,工程科技通訊,第七十一期,119-121,十二月刊,92年度。(NSC 90-2213-E-006-073)
  9. M. T. Ho and C. Y. Lin, “PID Controller Design for Robust Performance”, IEEE Transactions on Automatic Control,Vol. 48, No. 8, 1404-1409, Aug. 2003. (NSC 90-2213-E-006-073) (SCI, EI)
  10. M. T. Ho and H. S. Wang, “PID Controller Design with Guaranteed Gain and Phase Margins,” Asian Journal of Control, Vol.5, No. 3, 374-381, 2003. (NSC 89-2218-E-006-034) (SCI, EI)
  11. M. T. Ho, “Synthesis of H?V PID Controllers: A Parametric Approach,” Automatica, Vol. 39, 1069-1075, 2003. (NSC 89-2218-E-006-034) (SCI, EI)
  12. M. T. Ho, A. Datta and S. P. Bhattacharyya, “Robust and Non-fragile PID Controller Design,” International Journal of Robust and Nonlinear Control, Vol. 11, 681-708, 2001. (SCI, EI)
  13. M. T. Ho, A. Datta and S. P. Bhattacharyya, “Generalizations of the Hermite-Biehler Theorem: The Complex Case,” Linear Algebra and its Applications, Vol. 320, 23-36, 2000 (SCI, EI)
  14. M. T. Ho, A. Datta and S. P. Bhattacharyya, “Generalizations of the Hermite-Biehler Theorem,” Linear Algebra and its Applications, Vol. 302-303, 135-153, 1999. (SCI, EI)
  15. M. T. Ho, A. Datta and S. P. Bhattacharyya, “An Elementary Derivation of the Routh-Hurwitz Criterion,” IEEE Transactions on Automatic Control, Vol. 43, No. 3, 405-409, 1998. (SCI, EI)
  16. M. T. Ho and A. Datta, “Partially Decentralized Adaptive Control of Interconnected Systems with Improved Performance,” International Journal of Control, Vol. 64, No. 3, 529-561, 1996.(SCI, EI)
  17. A. Datta and M. T. Ho, “A Modified Model Reference Adaptive Control Scheme for Rigid Robots,” IEEE Transactions on Robotics and Automation, Vol. 12, 466-470, 1996.(SCI, EI)
  18. A. Datta and M. T. Ho, “On Modifying Model Reference Adaptive Control Scheme for Performance Improvement,” IEEE Transactions on Automatic Control, Vol. 39, 1977-1980, 1994. (SCI, EI)

B. Conference Papers

   a. 國際會議

  1. M. T. Ho, Y. Rizal, and Y. L. Chen, “Balance Control of a Unicycle Robot,” Proceedings of 2014 IEEE 23rd International Symposium on Industrial Electronics, pp. 1186-1191, 2014. (NSC 101-2221-E-006-189)
  2. Sho-Tsung Kao, Wan-Jung Chiou, Ming-Tzu Ho, “Balancing of a Spherical Inverted Pendulum with an Omni-directional Mobile Robot,” 2013 IEEE Multi-Conference on Systems and Control, Hyderabad, Indai, 2013.
  3. Ming-Tzu Ho, Yusie Rizal, Wen-Sheng Cheng, “Stabilization of a Vision-based Ball-on-Sphere System,” 2013 IEEE Multi-Conference on Systems and Control, Hyderabad, Indai, 2013.
  4. Sho-Tsung Kao, Chun-Chi Cheng, Ming-Tzu Ho, Hao-Chi Chang, Tsung-Lin Chen, Hsin-Piao Lin, “A Distributed Avionics System for Hybrid Sounding Rockets,” The 29th International Symposium on Space Technology and Science, Nogoya-Aichi, Japan, 2013.
  5. Huiwen Hu, Ming-Tzu Ho, Pin-Tsung Wu, Huang-Sheng Chen, Hsin-Piao Lin, Tsung-Lin Chen, “Development of Yo-yo Mechanism for the Despin of a Sounding Rocket,” The 29th International Symposium on Space Technology and Science, Nogoya-Aichi, Japan, 2013.
  6. Sho-Tsung Kao, Yueh-Han Li, Ming-Tzu Ho, “Balance Control of a Rotary Inverted Pendulum Actucated by an Omnidirectional Mobile Robot,” CACS 2012 International Automatic Control Conference, Yunlin, Taiwan, 2012.
  7. Po-Lung Huang, Jhih-Yuan Syu, Ming-Tzu Ho, “Implementation of Distributed Real-Time Multitasking Control Systems Using PC/104-plus and Linux-RTAI,” CACS 2012 International Automatic Control Conference, Yunlin, Taiwan, 2012.
  8. Ming-Tzu Ho, Yusie Rizal, Li-Ming Chu, “Visual Servoing tracking Control of A Ball and Plate Systems,” The 6th National Radar Seminar and International Conference on Radar, Antenna, Microwave, Electronics and Telecommunications (ICRAMET), Bali, Indonesia, 2012.
  9. Shih-Yuan Liu, Rizal Y. and Ming-Tzu Ho,“Stabilization of a ball and sphere system using feedback linearization and sliding mode control,”Control Conference (ASCC), 2011 8th Asian pp. 1334 - 1339.Sho-Tsung Kao, Po-Wei Lin, Ming-Tzu Ho, “Design and Implementation of Vision-Based Planar Juggler Control Systems,” The 6th National Radar Seminar and International Conference on Radar, Antenna, Microwave, Electronics and Telecommunications (ICRAMET), Bali, Indonesia, 2012
  10. Sho-Tsung Kao, Wan-Jung Chiou and Ming-Tzu Ho,“Integral sliding mode control for trajectory tracking control of an omnidirectional mobile robot,”Control Conference (ASCC), 2011 8th Asian pp. 765 - 770 .
  11. Yi-Wei Tu and Ming-Tzu Ho,“Synthesis of low-order anti-windup compensators for PID control,”Control Conference (ASCC), 2011 8th Asian pp. 1437 - 1442.
  12. Y. W. Tu and M. T. Ho,“Design and Implementation of DSP and FPGA-Based Robust Visual Servoing Control of an Inverted Pendulum,”Proceedings of 2010 IEEE MSC pp. 83-88.
  13. M. T. Ho, S. T. Kao, and Y. S. Lu,“Sliding Mode Control for a Ball and Arc System,”Proceeding of 2010 SICE pp. 2968-2974.
  14. S. T. Kao, and C. Y. Yen, and M. T. Ho,“Design and Implementation of a Stereo Vision-Guided Omnidirectional Mobile Robot for Real-Time Object Tracking,”Proceeding of 2010 SICE pp. 791-798.
  15. L. M. Chu, J. Y. Jian, and M. T. Ho,“Visual Servo Based Tracking and Balance Control of Ball and Plate Systems,”Proceedings of 2009 CACS Automatic Control Conference.
  16. C. Y. Li, S. T. Kao, and M. T. Ho,“Implementation of Real-Time Control Systems using Linux Multithread,”Proceedings of 2009 CACS Automatic Control Conference.
  17. Y. C. Zhang, W. J. Chiou, and M. T. Ho,“Design and Implementation of DSP-Based Magnetic Levitation Control Systems,”Proceedings of 2009 CACS Automatic Control Conference.
  18. Y. W. Tu and M. T. Ho,“Robust Low-order Controller Synthesis for Model Matching of Interval Plants and Its Application to Servo Motor Control,”Proceedings of 2009 IEEE MSC,pp. 968-973.
  19. Y. S. Lu, Y. W. Tu, L. G. Hong, and M. T. Ho,“Balance Control of Ball and Arc Systems,” Proceedings of 2008 CACS International Automatic Control Conference.
  20. H. C. Wu, C. Y. Yen, and M. T. Ho,“Design and Implementation of the Real-Time Motion Control Sys-tems on an X-Y Table,” Proceedings of 2008 CACS International Automatic Control Conference.
  21. J. M. Shyu, R. Y. Tsai, and M. T Ho,“Visual Servo Based Tracking Control of an Omnidirectional Mobile Robot,” Proceedings of 2008 CACS International Automatic Control Conference.
  22. S. C. Liao, Y. W. Tu, K. S. Yang, and M. T. Ho, “Balance and Tracking Control of Ball and Plate Systems,” Proceedings of the 17th IFAC World Congress, Jul. 2008.
  23. S. C. Liao, K. S. Yang, Y. W. Tu, and M. T. Ho,“Balance and Tracking Control of Ball and Plate Systems,”Proceedings of 2007 CACS Automatic Control Conference, 193-198, Nov. 2007.
  24. L. C. Chien, K. S. Yang, and M. T. Ho,“Balance Control of Inertia Pole Inverted Pendulum Systems,”Proceedings of 2007 CACS Automatic Control Conference, 934-939, Nov. 2007.
  25. J M. Lin, Y. C. Yang, and M. T. Ho,“Design and Implementation of Visual-servo-based Tracking Systems,”Proceedings of 2007 CACS Automatic Control Conference, 758-763, Nov. 2007.
  26. J. Y. Du, Y. W. Tu, and M. T. Ho,“Swing Up and Balance Control of Double Link Inverted Pendulum Systems,”Proceedings of 2007 CACS Automatic Control Conference, 928-933, Nov. 2007.
  27. M. T. Ho and H. S. Lin, “Balance Control of Ball and Wheel Systems via Feedback Linearization,” Proceedings of the 45th IEEE Conference on Decision and Control, 3926-3931, Dec. 2006.
  28. S. S. Chen, Y. W. Tu, and M. T. Ho,“Swing Up and Balance Control of DSP-based Rotary Double Link Inverted Pendulum Systems,” Proceedings of 2006 CACS Automatic Control Conference, Nov. 2006.
  29. M. T. Ho and Yi-Wei Tu,“PID Controller Design for a Flexible-Link Manipulator,”Proceedings of the 44th IEEE Conference on Decision and Control, 6841 - 6846, Dec. 2005.
  30. M. T. Ho and Jun-Ming Lu,“Synthesis of Absolutely Stabilizing PID Controllers and its Application to a Ball and Wheel System,” Proceedings of IEEE Conference on Control Applications, 825-830, Sep. 2004.
  31. M. T. Ho, G. J. Silva, A. Datta and S. P. Bhattacharyya,“Real and Complex Stabilization: Stability and Performance,” Proceedings of 2004 American Control Conference, 4126–4138, July. 2004.
  32. M. T. Ho and Sheng-Tsai Huang, “Robust PID Controller Design for Plants with Structured and Unstructured Uncertainty,” Proceedings of the 42nd IEEE Conference on Decision and Control, 780-785, Dec. 2003.
  33. M. T. Ho and C. Y. Lin, "PID Controller Design for Robust Performance," Proceedings of the 41st IEEE Conference on Decision and Control, 1063-1067,Dec. 2002.
  34. M. T. Ho,“Synthesis of H? PID Controllers,” Proceedings of the 40th IEEE Conference on Decision and Control, 255-260, Dec. 2001.
  35. M. T. Ho,“Non-Fragile PID Controller Design,” Proceedings of the 39th IEEE Conference on Decision and Control, 4903-4908, Dec. 2000.
  36. M. T. Ho, A. Datta and S. P. Bhattacharyya,“Constant Gain Stabilization with a Specified Damping Ratio and Damped Natural Frequency,” Proceedings of the 1999 IFAC.
  37. M. T. Ho, A. Datta and S. P. Bhattacharyya,“Design of P, PI and PID Controllers for Interval Plants,” Proceedings of the 1998 American Control Conference, 2496-2501, Jun. 1998.
  38. M. T. Ho, A. Datta and S. P. Bhattacharyya,“The Generalized Hermite-Biehler Theorem: Relaxation of Earlier Assumption,” Proceedings of the 1998 American Control Conference, 3206-3209, Jun. 1998.
  39. M. T. Ho, A. Datta and S. P. Bhattacharyya, “Generalizations of the Hermite-Biehler Theorem,” (Invited paper) The 7th ILAS Conference, The Hans Schneider Linear Algebra Conference, Madison, Wisconsin, June 3-6, 1998.
  40. M. T. Ho, A. Datta and S. P. Bhattacharyya,“Feedback Stabilization of Discrete-time Systems via the Generalized Hermite-Biehler Theorem,” Proceedings of the 36th IEEE Conference on Decision and Control, 908-914, Dec. 1997.
  41. M. T. Ho, A. Datta, L. H. Keel and S. P. Bhattacharyya, “Robust and Optimal PID Controller Design,” (Invited paper) Preprints of the 2nd IFAC Symposium on Robust Control Design, 59-64, Jun. 1997.
  42. M. T. Ho, A. Datta and S. P. Bhattacharyya,“Control System Design Using Low Order Controllers: Constant Gain, PI and PID,” Proceedings of the 1997 American Control Conference, 571-578, Jun. 1997
  43. M. T. Ho, A. Datta and S. P. Bhattacharyya,“A Linear Programming Characterization of All Stabilizing PID Controllers,” Proceedings of the 1997 American Control Conference, 3922-3928, Jun. 1997.
  44. M. T. Ho, A. Datta and S. P. Bhattacharyya,“A New Approach to Feedback Stabilization,” Proceedings of the 35th IEEE Conference on Decision and Control, 4643-4648, Dec. 1996.
  45. M. T. Ho, A. Datta and S. P. Bhattacharyya,“An Elementary Derivation of the Routh-Hurwitz Criterion,” Proceedings of the 35th IEEE Conference on Decision and Control, 3595-3597, Dec. 1996.
  46. M. T. Ho, A. Datta and S. P. Bhattacharyya,“A Generalization of the Hermite-Biehler Theorem,” Proceedings of the 34th IEEE Conference on Decision and Control, 130-131, Dec. 1995.
  47. A. Datta and M. T. Ho,“Computed Torque Adaptive Control of Rigid Robots with Improved Transient Performance,” Proceedings of 1993 American Control Conference, 1418-1422, Jun. 1993.
  48. A. Datta and M. T. Ho,“On Modifying Model Reference Adaptive Control Scheme for Performance Improvement,” Proceedings of the 32nd IEEE Conference on Decision and Control, 1093-1094, Dec. 1993.

   b. 國內會議

  1. 蕭天賜 / 凃毅瑋 / 楊光勳 / 何明字,『以數位訊號處理器為基礎之多功能控制平台的設計與實現』,國科會工程處控制學門94年度計畫成果發表會學生實作專題競賽。
  2. 凃毅瑋 / 林家民 / 徐嘉明 / 何明字,『以影像回授為基礎之旋轉型倒單擺平衡控制系統』,2006德州儀器亞洲區DSP應用競賽台灣區分區競賽。
  3. 凌朝雄 / 吳信成 / 何明字,『慣性輪單擺之非線性控制』,2005自動控制研討會。
  4. 黃聖財 / 蕭天賜 / 何明字,『以數位訊號處理器為基礎之球與桿系統平衡及追蹤控制』,2005自動控制研討會。
  5. 楊志偉 / 凃毅瑋 / 何明字,『以視覺伺服為基礎之倒單擺系統平衡控制』,2005自動控制研討會。
  6. 凃毅瑋 / 何明字,『以MATLAB/Simulink為基礎之嶄新的PID控制器設計工具箱』,2005 MATLAB & Simulink Tech Forum and Expo。
  7. 楊志偉 / 凃毅瑋 / 何明字,『以MATLAB/Simulink為發展環境下所建構的手眼協調系統』,2005 MATLAB & Simulink Tech Forum and Expo。
  8. 詹富強 / 何明字,『以數位信號處理器為基礎單板獨立旋轉型倒單擺甩上與平衡控制系統之實現』,2004自動控制研討會。
  9. 陳豪成 / 詹富強 / 何明字,『以DSP為基礎之MP3解碼器的實現』,2004自動控制研討會。
  10. 呂俊明 / 黃聖財 / 何明字,『球與輪系統之平衡控制』,2004自動控制研討會。
  11. 洪介仁 / 凌朝雄 / 何明字,『車與桿倒單擺系統之平衡控制』,2004自動控制研討會。
  12. 林鈺翔 / 洪介仁 / 何明字,『雙連桿倒單擺系統甩上與平衡控制器之設計』,2003自動控制研討會。
  13. 鍾沛剛 / 林佳逸 / 何明字,『以數位信號處理器為基礎之永磁式同步電動機控制系統實現』,2003自動控制研討會。
  14. M. T. Ho and H. S. Wang, “PID Controller Design with Guaranteed Gain and Phase Margins,” Proceedings of the 2002 Automatic Control Conference in Taiwan, 174-179, 2002.
  15. M. T. Ho, “Stabilization Using PID Controller without Pure Derivative Action,” Proceedings of the 2000 Automatic Control Conference in Taiwan, 125-130, Mar. 2000.
  16. M. T. Ho, “Robust Non-Fragile PID Controller Design for Interval Plants,” Proceedings of the 1999 Automatic Control Conference in Taiwan, 167-172, Mar. 1999.

   C. Books

  1. 何明字 / 楊松霈 / 陳信助 / 林鐘焎, ”自動控制系統” ,高立圖書,2012
  2. A. Datta, M. T. Ho and S. P. Bhattacharyya,“Structure and Synthesis of PID Controllers,” Springer-Verlag, 2000.
  3. M. T. Ho, A New Approach to Feedback Stabilization, Ph.D. Dissertation, Electrical Engineering, Texas A&M University, Dec. 1997.
  4. M. T. Ho, Continuous-Time Model Reference Adaptive Control with Improved Transient Performance, M.S. Thesis, Electrical Engineering, Texas A&M University, Aug. 1993.

   D. Other Publications

  1. 『利用全域狀態回授線性化之球與輪系統平衡控制』,國科會專題研究計畫成果報告,計畫編號:NSC 95-2221-E-006-366.
  2. 『強健即時視覺伺服系統之設計與實現及其在倒單擺平衡控制之應用』,國科會專題研究計畫成果報告,計畫編號:NSC 95-2221-E-006-360.
  3. 『嵌入式即時控制系統整合發展環境之開發』,國科會提升產業技術及人才培育研究計畫成果報告,計畫編號:NSC 94-2622-E-006-003-CC3.
  4. 『具反終結功能之低階控制器設計及其應用』,國科會專題研究計畫成果報告,計畫編號:NSC 94-2213-E-006-069.
  5. 『利用參數方法之強健低階控制器設計及其在撓性臂定位控制之應用』,國科會專題研究計畫成果報告,計畫編號:NSC 93-2218-E-006-089.
  6. 『利用低階控制器之Lur’e系統絕對穩定化設計及其應用』,國科會專題研究計畫成果報告,計畫編號:NSC 92-2213-E-006-070.
  7. 『混合型擾動下強健PID控制器設計』,國科會專題研究計畫成果報告,計畫編號:NSC 91-2213-E-006-090.
  8. 『具強健性能之PID控制器設計』,國科會專題研究計畫成果報告,計畫編號:NSC 90-2213-E-006-073.
  9. 『H_infinity PID控制器之設計』,國科會專題研究計畫成果報告,計畫編號:NSC 89-2218-E-006-034.
  10. 『非脆弱性PID控制器之設計』,國立成功大學新進教師專題計畫成果報告,2000.
  11. G. J. Silva, M. T. Ho, A. Datta and S. P. Bhattacharyya, “PID Controller Design for First Order Plus Dead-time Models,” Technical Report of Department of Electrical Engineering, Texas A&M University, Sep. 1997.

指導學生情況

  • 博士班

Yuise(博士)、高碩聰(博士)、蘇啓峰(博士)、黃柏龍(博士)

  • 碩士班
  • 110級 : 巫柏毅、楊唯駿、陳威廷、陳威安、林翰威
  • 109級 : 蔡政育、洪瑋呈、廖柏翔
  • 108級 : 吳易宸、曲靖淳、楊景文
  • 107級 : 張津瑋、楊文皓、蔡學怡
  • 106級 : 鄭詠全、劉紘旭、盛首鳴
  • 105級 : 陳之凱、吳昭儀、鍾東霖
  • 104級 : 王翊、蕭家豪、王俊諺
  • 103級 : 黃彥翔、黃建琛、陳瑞文
  • 102級 : 陳煥升、林子欽、蕭景隆、許智韋、韓宗衛
  • 101級 : 趙冠舜、楊宗諭、柯俊廷
  • 100級 : 凃毅瑋、鄭文勝、周聖儒、李岳翰、簡誌佑
  • 99級 : 陳奕隆、林柏瑋、范文宣、邱萬鍾、簡彰億、許志源
  • 98級 : 蔡任右、顏忠逸、劉士源、陳震豪、洪聆剛
  • 97級 : 李佳益、張雲清、朱立銘、張居強
  • 96級 : 翁義清、徐嘉明、呂育勝
  • 95級 : 陳上澍、簡立杰、蕭天賜、廖顯慶、杜俊誼、林家民、吳信成、林浩軒
  • 94級 : 楊志偉
  • 93級 : 詹富強、黃聖財、凌朝雄
  • 92級 : 呂俊明、洪介仁、林品宏、陳豪成
  • 91級 : 鍾沛剛、林鈺翔、王興森

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