# 口試投影片 (Presentation)
**Author:** Teng-Hu Cheng(程登湖)
**email:** [e-mail]
**Date:** July 2024
**Website:** https://ncrl.lab.nycu.edu.tw/member/

## Given a Big Picture of Your Work
- Provide the overall structure if your work. It can be all the subtopics, or chapters.
- **<span style="color: red;">Cycling the big picture when transitioning to the next topic.</span>**

## 1. Introduction
- **Related works:** Discuss how your method is better than other existing works.
- **Motivations:** Describe why this topic interests you.
- **Objectives:**
1. Overall Research Aim
State the main goal of your research — what you ultimately want to achieve.

> Example:
> The objective of this research is to develop an adaptive control algorithm for a quadrotor UAV that ensures stable flight under uncertain wind conditions.

2. Specific Objectives
List **2–5 concrete, actionable objectives** that guide your research.
Each should start with a verb such as *to design*, *to develop*, *to analyze*, *to evaluate*, etc.

> Example:
> 1. To model the dynamic behavior of the quadrotor under varying wind disturbances.
> 2. To design an adaptive control law using the Extended Kalman Filter for state estimation.
> 3. To implement and test the controller in both simulation and real-world experiments.
> 4. To evaluate system performance in terms of stability, tracking accuracy, and robustness.

3. Relation to the Research Problem
Briefly explain how these objectives address the identified research gap or problem.

> Example:
> These objectives address the lack of robust control strategies for UAVs operating in unstructured environments with unpredictable aerodynamic effects.

4. Expected Outcomes (Optional)
You may also mention what concrete results or contributions you expect from the research.

> Example:
> The expected outcome is a validated control framework that improves UAV trajectory tracking accuracy by at least 20% under wind disturbances.

## 2. Problem Definition and Scenario
- **<span style="color: red;">Propose three straightforward solutions, other than your method</span>**, in your slides to help distinguish the developed method from other methods. (i.e., Fence)
- Explain why your method is better than the other three, helping the audience to more clearly understand the problem.

## 3. Definition of Symbols
- Define the variables when they appear for the first time.

## 4. System Dynamics
- Present the ODE that describes the UAV dynamics or other system dynamics.
- **Assumptions:** Discuss any assumptions that could limit the application of your developed controller or theorem. The fewer assumptions, the better the applicability of your method.

## 5. Controller Design
- **Optimal control problem:** If it is an optimal control problem, define the problem in this section.
- Control block diagram
- Pseudo code
- Flowchart

## 6. Stability Analysis
- **Lyapunov-based stability:** Construct positive definite Lyapunov functions and demonstrate that their time-derivative is negative definite.
- Boundness of the controller

## 7. Experiments
- System setup
- Provide hardware architecture
- Plots
- Matrices in tables(e.g., RMSE, computation time)

## Checklist:
1. Ensure variables are defined when they appear for the first time.