L.048.27024/92039: Advanced Control Methods for Mechatronics
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Lecturer |
Short description
This course focuses on advanced design for closed-loop linear control systems under model uncertainty and exogenous disturbances. In the course, both continuous- and discrete-time analysis and design techniques are treated. Topics include parametric robust control, optimal control, repetitive control and iterative learning algorithms. Mechatronic applications, including vehicle control systems, high-precision tracking systems, and atomic force microscope, will be considered. Students complement analytical treatment with exercises using MATLAB and Simulink.
Main course content
The following topics are considered:
Systematic design of SISO LTI controllers using frequency domain specifications
Parametric robust control design
Robust LQ control with loop transfer recovery
Control architectures with preview
Disturbance observer design
Repetitive control and learning algorithms
Intended audience
M.Sc. students in the area of applied mathematics, mechanical engineering, electrical engineering, and robotics.
Lectures
Schedule is available here and a summary of lectures is available here.
Grading
Teaching and learning methodology
The lectures will be mainly based on blackboard and slides, see lectures.
Tutorials with computer simulations are based on MATLAB and Simulink.
Learning outcomes and competences
After finishing the course, the attendants will
know the basics of parametric robust control,
know the fundamentals of robust optimal control,
know the basics of high precision control, and
know how to apply control algorithms to mechatronic systems.
The attendants will learn
to use systematic analysis and synthesis methods that can be applied to mechatronic applications,
precise methods based on abstractions that can be used to further independent learning.
Course textbooks
Own lecture notes (download).