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| Detailed information |
| Original study plan |
Master's programme Mechatronics 2023W |
| Objectives |
The objective is to gain a fundamental understanding and the ability to work with the corresponding methods for the analysis and design of nonlinear complex dynamical multi-input multi-output systems based on solid mathematical concepts.
The level of the mathematical methods used to describe the dynamic systems, to design the control laws and to synthesize the control circuits corresponds roughly to that in the textbooks H.K Khalil : Nonlinear Systems, MacMillan Publishing Company, 1992; E. Slotine , Li Weiping.: Applied Nonlinear Control, Prentice–Hall, Inc. 1991; M. Vidyasagar : Nonlinear Systems Analysis, Prentice Hall, 1993.
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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 |
Oral exam
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| Methods |
Blackboard and slide presentation
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| Language |
German |
| Study material |
JKU KUSSS and/or Moodle
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| Changing subject? |
No |
| Corresponding lecture |
(*)MEMPBKVRTNS: KV Regelungstheorie nichtlinearer Systeme (3 ECTS)
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| Earlier variants |
They also cover the requirements of the curriculum (from - to)
MEMWBVORMS1: VO Control of nonlinear mechatronic systems 1 (2010S-2022S)
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