At the end of the course Advanced Control Engineering (ACE) the student will be able to
- Derive the equations of motion of a multi-DOF mechanical system using the Lagrange’s method.
- Derive the linear MIMO state-space equations and the transfer function by a linearization of the equations of motion of a multi-DOF mechanical system.
- Analyse the stability, passivity, controllability, reachability, observability and detectability of a MIMO state-space system.
- Design state feedback and state observer for a linear MIMO system using pole-placement and optimal control techniques.
- Analyse the stability of a MIMO transfer function using frequency domain techniques.
- Design a (PID) controller by manual loop shaping.
- Perform analysis and synthesis via algebraic methods in the case of simple systems.
- Analyse the robust stability and robust performance of a linear MIMO system.
- Design a controller by automatic loop shaping, using mixed sensitivity minimization and the generalized plant setting.
- Explain some fundamental limitations in feedback control.
- Analyse the stability of a nonlinear system using Lyapunov stability and Lasalles’ Invariance Principle
- Design a controller for a nonlinear MIMO system in joint and operation space using inverse dynamics compensation or feedback linearization.
Production machines, robot arms, aircraft, drones, segways and exoskeletons are all mechanical systems with controlled motion. Control of mechanical systems will even become more important with current trends in automation and robotization. Advanced Control Engineering treats several various advanced control theoretic concepts and controller design methods.|
The application focus is on motion control. Multiple-input multiple-output systems are considered. Mostly tools for linear systems are discussed, but also control of nonlinear systems is addressed. The course extends the basic (Bachelor) knowledge of control theory and prepares for courses on more specific control methods. Extensive treatment of various algorithms to obtain the controllers is not part of the course. The course covers the following topics:
The theory is introduced through lectures. Weekly assignments are provided to test the theory. The assignments are supported by tutorials. Theory is further applied to a self-chosen subject during a group project. Final knowledge is assessed by an individual written exam.
- Modelling multi degree-of-freedom mechanical systems (Lagrange’s method, linearization)
- State-space based analysis and control design by state feedback and observers (optimal control, pole-placement, controllability, reachability, observability, detectability, Luenberg Observers, Kalman Filter, Optimal control, LQR, LQG)
- Frequency domain analysis and control design by loop shaping (frequency response, decoupling, characteristic loci, generalized Nyquist, gain and phase margins, Bode sensitivity integral)
- Robust stability and performance analysis; robust controller synthesis (signal and system norms, uncertainty representation, small gain theorem, mixed sensitivity minimization, generalized plant framework)
- Nonlinear dynamic analysis and control by dynamics compensation or feedback linearization (equilibria, Lyapunov stability and Lasalles’ Invariance Principle, passivity, computed torque control, joint space, operation space)
|Mandatory basic knowledge on differential equations, classical dynamical mechanical modelling, linear systems, Laplace and Fourier transforms, PID control.|
This knowledge can be obtained through the following UT Bachelor Modules:
• ME module Mechatronics (201700128)
• EE module Systems and Control (201700145)
• Minor Biorobotics (201800178)
|Master Mechanical Engineering|
|Master Biomedical Engineering||Verplicht materiaal|
|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)
|Feedback Control Theory, J.C. Doyle, B.A. Francis, A.R. Tannenbaum (freely available online)
|Multivariable Feedback Control – Analysis and Design, S. Skogestad, I. Postlethwaite (Chapters 1, 2, 3 available online)
|Modern Control Engineering, K. Ogata
|Self study without assistance|
|Written examination and Assignment(s)|
OpmerkingWeekly assignment in groups of 2, Project in groups of 5 and Individual written exam