Kies de Nederlandse taal
Course module: 202200104
Control System Design for Robotics
Course infoSchedule
Course module202200104
Credits (ECTS)5
Course typeCourse
Language of instructionEnglish
Contact W.B.J. Hakvoort
Contactperson for the course W.B.J. Hakvoort
Examiner W.B.J. Hakvoort
Examiner A.Q.L. Keemink
dr. I.S.M. Khalil
dr. H. Koroglu, PhD
Academic year2022
Starting block
Application procedureYou apply via OSIRIS Student
Registration using OSIRISYes
Learning outcomes:
The student is able to…
  • Linearize a nonlinear system around an operating point and obtain its state-space description and transfer function;
  • Analyse the stability of a feedback loop via frequency response as well as algebraic methods;
  • Synthesise controllers based on manual as well as automated (optimization-based) loop-shaping;
  • Identify and handle fundamental design trade-offs and limitations in feedback controller synthesis;
  • Discretise and implement a controller in computer and simulate the overall system behaviour;
  • Determine the reachability and observability of a linear state-space model and synthesize an observer-based controller based on the separation theorem;
  • Analyse the stability of a (nonlinear) system based on Lyapunov’s theorem, LaSalle’s invariance principle and passivity theorem;
  • Synthesise a controller for a nonlinear robotic system in joint space as well as in operation space.
  • Consider legal aspects in control design for autonomous robots (for MSc Robotics students)
Short description of course content:
  • Linearization and state-space models, transfer function and frequency response, feedback and feed-forward, decoupling, loop gain and sensitivities, characteristic polynomial and internal stability, Bode and Nyquist stability criterions, stability margins, loop-shaping, mixed-sensitivity synthesis, waterbed effect and bandwidth limitations.
  • Reachability and observability of a state-space model, pole placement, linear-quadratic regulator, Kalman filter, separation principle and observer-based controller synthesis.
  • Lyapunov stability theory, LaSalle’s invariance principle, passivity and small-gain theorems, inverse dynamics compensation, feedback linearization, computed torque control, control in joint space and operation space.
  • Sampling and discretization, sampling rate selection, computer implementation and simulation.
  • Legal aspects of autonomous robots (for MSc Robotics students)

Instructional modes
The course is taught with the following teaching methods:
  • Lectures (about 16 lectures (32h) of frontal teaching in block 1B).
  • Tutorials (about 9 tutorial (18h) of tutorials in block 1B).
Students can contact the teacher for any questions through Canvas and by pre-scheduling meetings.

The learning objectives are assessed as follows:
  • Weekly assignments (40% of the total score) The weekly assignments partly prepare for the project assignment
  • Project assignment (20% of the total score) The project contributes to the Challenge Based Learning portfolio for MSc-Robotics students.
  • Written exam  (40% of the total score)

Assumed previous knowledge
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)
Participating study
Master Computer Science
Participating study
Master Biomedical Engineering
Participating study
Master Electrical Engineering
Participating study
Master Robotics
Participating study
Master Mechanical Engineering
Participating study
Master Systems and Control
Participating study
Master Interaction Technology
Required materials
Feedback Systems, K.J. Åström and R.M. Murray (freely available online) ISBN:978-1400828739
A Mathematical Introduction to Robotic Manipulation, R.M. Murray, Z. Li, S. Shankar Sastry (freely available online) ISBN:978-0849379819
Recommended materials
Feedback Control Theory, J.C. Doyle, B.A. Francis, A.R. Tannenbaum (freely available online) ISBN:978-0486469331
Multivariable Feedback Control – Analysis and Design, S. Skogestad, I. Postlethwaite (Chapters 1, 2, 3 available online) ISBN: 978-8126552672
Modern Control Engineering, K. Ogata ISBN: 978-0136156734
Linear System Theory and Design, C. T. Chen, (available as e-book via UT library) ISBN: 978-0195117783
Instructional modes


Exam, Assignment

Kies de Nederlandse taal