| Detailed information |
| Original study plan |
Master's programme Mechatronics 2015W |
| Objectives |
The course provides a systematic methodology for the design of control systems. It starts by an analysis of linear and nonlinear dynamical systems as well as of the achievable limits of performance and presents and compares main control design alternatives for the different control problems, in particular in the presence of model uncertainties and measurable or unmeasurable disturbances.
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| Subject |
- Structure of a general control system
- Basic requirements (stability, performance, robustness, description of uncertainty)
- Limits of performance: Pareto optimality
- Approach 1: Linear robust control design in the H-infinity formulation
- Approach 2: Nonlinear Inverse control, reference case, input-output feedback linearization, backstepping control and Iterative Learning Control (ILC)
- Approach 3: Nonlinear robust control by high-gain methods (sliding-mode control)
- Approach 4: Disturbance rejection in the presence of accessible and inaccessible disturbances, extended Kalman filter, unknown input observer
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| Criteria for evaluation |
A written exam and evaluation of the exercise part.
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| Methods |
Lectures and exercises (partly in form of group work).
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| Language |
German or English |
| Study material |
Lecture notes will be given to the students.
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| Changing subject? |
No |
| Further information |
none
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| Corresponding lecture |
(*)ME3WKKVMRS1: KV Mechatronische Regelsysteme I (4,5 ECTS)
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