⑵ The achievement of safe, efficient and pollution free operations within a port area obviously depends upon the effective co-ordination of all elements. A pilot certainly has an essential role in the achievement of this objective but not the only role. Port co- ordination must be achieved through some authoritative form of co-operative effort, between all the groups which operate within the port area.

二、考慮如下的系統狀態空間方程式，其中 x 為狀態，r 為輸入，y 為輸出。請計算出此 系統的輸出對輸入轉移函數。（25 分）

三、考慮一個控制系統的特性方程式如下所示，請利用羅斯法則求出該系統在 s 的右半 平面、左半平面及虛軸上各有幾個特性根？（25 分）  s6 + 2s 5 + s 4 − 16s2 − 32s − 16 = 0

四、假設一個單位負迴授系統，其順向路徑轉移函數如下所示。請分別詳述如何利用根 軌跡作圖法設計⑴ PD 補償器⑵ PI 補償器，以改善原系統的性能。說明 PD 和 PI 補 償器優點各為何？（25 分）

⑴ Pilotage is usually thought of as the guidance of a single vessel in ports, harbors and rivers by an experienced local specialist not regularly assigned to the ship. According to a convenient legal fiction, the vessel still belongs to the master and he can override the pilot at any time, for cause. In fact, however, in varying degrees the pilot shares responsibility for the safe navigation of the ship as an individual unit.

⑴船舶應儘可能避免橫越航行巷道，如不得已而橫越時，應儘可能與航行巷道一般 通行方向成直角橫越之。

⑵當船舶駛入淺水區時，會產生壓力之改變，而導致船體之下沉及俯仰差之改變， 尤其船舶以高速航行時，此現象更為明顯。

⑴走錨

⑵自動識別系統

⑶分道通航制

⑷迎艏正遇