You learn how to design control systems in a model-based, theoretically substantiated manner, with application to mechatronic systems.|
The learning objectives of the course are:
- Be able to synthesize a loop shaping design for a motion system
- Be able to synthesize a pole placement design using a State Space approach and a Polynomial approach
- Understand the fundamental limitations in SISO control
- Know how to make trade-offs in a pole placement design in order to deal with limitations in practical mechatronic settings
- Know how to create a computer-based realization and understand the implications
- Experience the design and implementation process by means of simulation / in an assignment.
The course focuses on the analysis and control of mechatronics systems in both continuous and discrete time domain. The topics covered in the course are:
- Loop shaping for motion systems
- Pole-placement design using state space models
- Pole-placement design using input-output models
- Influence of the sampling rate and of quantization
- Discrete time analysis: stability, sensitivity, controllability/reachability, observability/constructability
- Sample rate selection, inter-sample behavior
The course is taught with the following teaching methods:
- Lectures (about 16 hours of frontal teaching in block 1A).
Students can contact the teacher for any questions through emails and by pre-scheduling meetings.
The learning objectives are assessed as follows:
- Written exam (multiple-choice questions) (60% of the total score)
- Assignment (40% of the total score)