Recommended knowledge from MA-431-G Mathematics for mechatronics, MAS416-G Modelling and simulation of mechatronic systems, MAS408-G Analog and digital electro technologies.
On successful completion of the course, the student should be able to
analyse systems and design feedback controllers in frequency domain
analyse systems and design controllers and state estimators in time domain and state-space representation
use techniques for design and implementation of discrete control systems
System analysis in frequency domain, control design assisted by frequency responses, limitations and instabilities of SISO control systems, state-space modeling and state-space system analysis, similarity transformations and control design in state-space, design of LQR controllers, observer design and observer-based controllers, introduction to Kalman filtering, integral and robust tracking controls, z-domain and z-transformations, digital control techniques.
Examples and exercises in the subject will be related to electric motor drives, robotic manipulators, and servo techniques based on the valve-controlled hydraulic systems.
Arbeidsformer og arbeidsomfang
Lectures, exercises, laboratory exercises, including project work in groups of 3-4 students. Use of Matlab/Simulink software. Estimated work load for the average student is approximately 200 hours.
4-hour individual written examination (60 % contribution to final assessment), and practical project work with compulsory presentation (40 % contribution to final assessment). Graded assessment.
Course evaluation is carried out as a midterm evaluation in accordance with standard procedure in the quality assurance system, chapter 2.1.1., unless other information is given in the beginning of the semester.