After successful completion of the course, students are able to:

• represent dynamical systems in state-space form and analyse their properties.
• apply and parameterise different control concepts in state space representation with and without state observers.
• understand, design and apply selected, advanced impedance control structures.
• design and implement optimal control concepts (in particular, the linear-quadratic regulator (LQR)).
• design a nonlinear controller by means of feedback linearisation.
• combine the studied control concepts with trajectory feed-forward control.

Linear control theory:

• Modeling and linearisation
• Representation and analysis of SISO systems in state space
• Controller and observer design in state space
• Impedance control concepts

Nonlinear control theory:

• Feedback linearisation
• Trajectory feed-forward control

The VU is supported by extensive examples which are available as complete MATLAB/Simulink packages for the students.

The course is designed interactively. In the lecture parts, the theoretical fundamentals are worked out and the knowledge imparted in this way is additionally vividly supported by practice-relevant problems. In numerous exercise examples the application of the previously theoretically mediated contents is clarified by calculation and simulation examples.

The course is held in english.

Homework assignments, exercise units (including lab exercises) and oral exam.

The lecture notes for this first instalment of the course will be handed out chapter-wise during the course.

Basic control theory (equivalent to course VU 325.038)