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Course module: 201900120
201900120
Advanced motion control
Course infoSchedule
Course module201900120
Credits (ECTS)5
Course typeCourse
Language of instructionEnglish
Contact persondr.ir. W.B.J. Hakvoort
E-mailw.b.j.hakvoort@utwente.nl
Lecturer(s)
Contactperson for the course
dr.ir. W.B.J. Hakvoort
Lecturer
dr.ir. W.B.J. Hakvoort
Academic year2019
Starting block
2A
Application procedureYou apply via OSIRIS Student
Registration using OSIRISYes
Aims
  • Explain the basic concepts, algorithms, assumptions and typical applications of the advanced motion control methods ILC, DRC, AFC and MRAC.
  • Perform a simulation with two advanced control techniques (ILC or DRC and AFC or MRAC)
  • Present a recent development or application of advanced motion control methods from a literature study.
Content
Conventionally, fixed parameter controllers are used for motion control. Such controllers are widely applied, because of their stability guarantees and satisfactory performance in most cases. In some cases performance needs improvement by updating the controller using information on the disturbance or system dynamics. Such advanced motion controllers are considered in this course.
 
Examples of advanced motion controllers that learn the disturbance are iterative learning control (ILC) for repetitive disturbances, repetitive control (RC) for periodic disturbances and disturbance rejection control (DRC) for slowly varying disturbances. Examples of advanced motion controllers that learn system dynamics are adaptive feedforward control (AFC) learning  the dynamic response to a known reference or disturbance and  model adaptive reference control (MRAC) learning the controller parameters to match a prescribed closed-loop response.
 
In the first part of the course, the basic principles of ILC, DRC, AFC and MRAC are introduced and specific implementations and applications are presented to the students. In the second part of the course, the students study recent developments in fundamentals, algorithms and applications of these or similar advanced control techniques in literature and present their findings to the other students.
 
Assumed previous knowledge
Mandatory:
Knowledge of linear systems, basic dynamical modelling of mechanical systems, state-space representations and control of MIMO systems.

Recommended:
One of the following
- Control for (B)ME
- Digital control
- Optimal control
- Robust control
Participating study
Master Mechanical Engineering
Participating study
Master Systems and Control
Required materials
Course material
Selected papers
Recommended materials
-
Instructional modes
Assessment
Presence dutyYes

Assignment
Presence dutyYes

Lecture
Presence dutyYes

Presentation(s)
Presence dutyYes

Self study without assistance
Presence dutyYes

Tests
Assignment(s) and oral exam

Remark
the students are assessed on the presentation of their literature study to the class.

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Kies de Nederlandse taal