Inhalt

[ MEMWBUERMS1 ] UE Control of nonlinear mechatronic systems 1

Versionsauswahl
(*) Unfortunately this information is not available in english.
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
Detailed information
Original study plan Master's programme Mechatronics 2017W
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.
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
Criteria for evaluation exercises as homework
Methods Blackboard, homework, application of modern software tools (computer algebra, Matlab/Simulink)
Language German
Study material http://www.regpro.jku.at/downloads/
Changing subject? No
Further information none
Corresponding lecture (*)ME3WLUENLS1: UE Regelung nichtlinearer mechatronischer Systeme I (1 ECTS)
On-site course
Maximum number of participants 35
Assignment procedure Assignment according to sequence