Inhalt
[ MEMWBUERMS1 ] UE Control of nonlinear mechatronic systems 1
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| (*) Unfortunately this information is not available in english. |
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| Workload |
Education level |
Study areas |
Responsible person |
Hours per week |
Coordinating university |
| 1,25 ECTS |
M2 - Master's programme 2. year |
Mechatronics |
Andreas Kugi |
1 hpw |
Johannes Kepler University Linz |
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| Detailed information |
| Original study plan |
Master's programme Mechatronics 2021W |
| Objectives |
The objective is to train and apply the methods presented in the lecture for the analysis and design of nonlinear complex dynamical multi-input multi-output systems to specific control problems and examples.
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| Subject |
Mathematical basics for the theory of nonlinear dynamical systems, application examples of nonlinear systems, methods for the analysis of nonlinear systems, singular perturbation theory (slow and fast manifold, multi-scale models), sensitivity analysis, Lyapunov stabilty for autonomous and nonautonomous systems, Barbalat’s Lemma, Lyapunov based control design (PD control, computed torque, integrator backstepping, generalized backstepping, adaptive backstepping), passivity, positive realness, dissipativity, Kalman-Yakubovich-Popov Lemma, actuator/sensor collocation, Port-Hamiltonian systems, passivity-based control
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| Criteria for evaluation |
exercises as homework
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| Methods |
Blackboard, homework, application of modern software tools (computer algebra, Matlab/Simulink)
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| Language |
German |
| Study material |
http://www.regpro.jku.at/downloads/
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| Changing subject? |
No |
| Further information |
none
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| Corresponding lecture |
(*)ME3WLUENLS1: UE Regelung nichtlinearer mechatronischer Systeme I (1 ECTS)
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| On-site course |
| Maximum number of participants |
35 |
| Assignment procedure |
Assignment according to sequence |
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