Close Help Print Course module: 201900089 201900089 Control for (B)ME Course info Schedule Course module 201900089 Credits (ECTS) 5 Course type Course Language of instruction English Contact person dr.ir. W.B.J. Hakvoort E-mail w.b.j.hakvoort@utwente.nl Lecturer(s) Lecturer dr.ir. W.B.J. Hakvoort Contactperson for the course dr.ir. W.B.J. Hakvoort Lecturer dr.ir. A.Q.L. Keemink Lecturer dr. I.S.M. Khalil Academic year 2019 Starting block 1A Application procedure You apply via OSIRIS Student Registration using OSIRIS Yes Aims After the course Control for (B)ME the student is able to Model a multi-DOF linear mechanical system and design a controller based on performance specifications. Analyse a linear MIMO system on its causality, stability, passivity, controllability, observability and detectability both for continuous and discrete time systems. Formulate the robust control problem with a generalized plant formulation and robust performance and stability conditions. Design an observer, optimal state feedback and linear quadratic regulator for a linear MIMO system. Design an interaction controller for a linear MIMO system Design a controller for a nonlinear MIMO system in joint and operation space using computed torque or feedback linearization Content Production machines, exoskeletons, Segways, aircraft, drones and robot arms are all mechanical systems with controlled motion. Automation and robotization trends will lead to even more controlled mechanical systems.  Control for (B)ME treats the fundamental concepts to control mechanical systems.   The course focusses mainly on control for linear systems with multiple degrees of freedom (DOF), being multiple-input multiple-output systems. Basic theory, limitations and applications of control methods are discussed. A detailed treatment of algorithms and extensions are not part of the course. The course covers the following topics Modelling multi degree-of-freedom systems. Equations of motion of multi-DOF systems, frequency domain, transfer functions, state-space representation, decoupling (dyadic, modal), signal norms. Performance based PID control. PID control, low-frequency approximation, generalized Nyquist stability criterion. Robust control. Small gain, uncertainty, generalized plant, mixed sensitivity, Cascaded control Discrete control. Discretisation, z-domain, discrete state-space, sampling, aliasing, delay, causality, stability Optimal control. Controllability, Observability, Stabilizability, Detectability, Luenberg Observers, Kalman Filter, Optimal control, LQR, LGQ Interaction control. Lyapunov stability, passivity, admittance control, impedance control Robot control. Robot dynamics, computed torque control, feedback linearization, operation space control. Assumed previous knowledge Mandatory: Differential equations, classical dynamical mechanical modelling, linear systems, Laplace and Fourier transform, PID control Recommended: ME module Mechatronics (201700128) EE module Systems and Control (201700145) Minor Biorobotics (201800178) Participating study Master Mechanical Engineering Participating study Master Biomedical Engineering Required materials Course material Feedback Systems, K.J. Åström and R.M. Murray (freely available online) Course material A Mathematical Introduction to Robotic Manipulation, R.M. Murray, Z. Li, S. Shankar Sastry (freely available online) Recommended materials Course material Modern Control Engineering, K. Ogata Instructional modes Assessment Presence duty Yes Assignment Lecture Project unsupervised Self study without assistance Tests Assignment(s) and oral exam Close Help Print