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
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
Differential equations, classical dynamical mechanical modelling, linear systems, Laplace and Fourier transform, PID control
ME module Mechatronics (201700128)
EE module Systems and Control (201700145)
Minor Biorobotics (201800178)
|Master Mechanical Engineering|
|Master Biomedical Engineering||Required materials|
|Feedback Systems, K.J. Åström and R.M. Murray (freely available online)|
|A Mathematical Introduction to Robotic Manipulation, R.M. Murray, Z. Li, S. Shankar Sastry (freely available online)|
|Modern Control Engineering, K. Ogata|
|Self study without assistance|
|Assignment(s) and oral exam|