# 376.042 Selected Topics - Automation and Control This course is in all assigned curricula part of the STEOP.\$(function(){PrimeFaces.cw("Tooltip","widget_j_id_20",{id:"j_id_20",showEffect:"fade",hideEffect:"fade",target:"isAllSteop"});});This course is in at least 1 assigned curriculum part of the STEOP.\$(function(){PrimeFaces.cw("Tooltip","widget_j_id_22",{id:"j_id_22",showEffect:"fade",hideEffect:"fade",target:"isAnySteop"});}); 2021W 2020W 2019W 2018W 2017W 2016W 2015W 2014W 2013W 2012W 2011W

2020W, VU, 4.0h, 5.0EC

## Properties

• Semester hours: 4.0
• Credits: 5.0
• Type: VU Lecture and Exercise
• Format: Hybrid

## Learning outcomes

After successful completion of the course, students are able to

• describe and simulate the dynamics of rigid body systems such as robots.
• assess the properties and usefullness of numerical algorithms for differential equations.
• utilize modern computer algebra (Maple) and numerics (Matlab/Simulink) software to model, simulate and analyze dynamical systems.
• mathematically describe simple mechatronic systems.
• apply linear control design methods (loop-shaping, pole placement) to such systems.

## Subject of course

Lecture in the winter term: robot kinematics (rotation matrices, Euler angles, roll-pitch-yaw angles, translational motion, combined rotation and translation, angular velocity, manipulator Jacobian), rigid body dynamics (kinetic energy, potential energy, Euler Lagrange equations), inverse kinematics for robotic systems, introduction to numerical simulation methods

Lab exercises in the summer term: introduction to Matlab/Simulink, introduction to the computer algebra program Maple, application of the theoretical concepts in mathematical modeling taught in the winter term and of the methods from the lecture automatic control to specific simulation examples as well as laboratory experiments

## Teaching methods

lecture (online, in Zoom meetings), lab course (online, in Zoom meetings), preparation of problems prior to the lab courses, independent solution of advanced examples during the lab course, implementation of the designed controllers and observers on lab experiments, discussion of the theoretic foundation during the lab course

## Mode of examination

Immanent

• The TUWEL course is the basis of the distance learning. All necessary information, group assignments and Zoom meetings will be provided there.
• The presentation of this course takes place on the 5th of October 2020 at 01:00pm in a Zoom meeting.
• In the winter term, a lecture (2 hours) in "Selected Topics - Automation and Control" is given. The lecture starts approximately at midterm, see section "course dates", and will an online lecture in Zoom. Attendance is compulsory (minimum 40%).
• In the subsequent summer term, the theoretical knowledge in the field of modeling, simulation, identification, controller and observer design obtained from the lectures "Automatic Control", "Mathematical Modelling" and "Selected Topics - Automation and Control" will be applied to specific laboratory experiments. For this, also an introduction to the standard software tools of automatic control (Matlab/Simulink, Maple) will be given. General information regarding the course will be provided in the last lecture in the winter term. Moreover, groups will be formed in this lecture.

## Course dates

DayTimeDateLocationDescription
Mon13:00 - 15:0005.10.2020 Online (LIVE)E376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, Vorbesprechung
Thu08:00 - 10:0026.11.2020 - 28.01.2021 Online (LIVE)E376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu08:30 - 10:0021.01.2021 Online (LIVE)E376: VU Fachvertiefung - Automatisierungs und Regelungstechnik Vorbesprechung zum Übungsteil im SS
Thu08:00 - 17:0011.03.2021 ZoomÜbung 1
Fri08:00 - 12:0012.03.2021 ZoomÜbung 1
Thu08:00 - 17:0025.03.2021 ZoomÜbung 2
Fri08:00 - 12:0026.03.2021 ZoomÜbung 2
Thu08:00 - 17:0022.04.2021 ZoomÜbung 3
Fri08:00 - 12:0023.04.2021 ZoomÜbung 3
Thu08:00 - 17:0006.05.2021 ZoomÜbung 4
Fri08:00 - 12:0007.05.2021 ZoomÜbung 4
Selected Topics - Automation and Control - Single appointments
DayDateTimeLocationDescription
Mon05.10.202013:00 - 15:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, Vorbesprechung
Thu26.11.202008:00 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu03.12.202008:00 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu10.12.202008:00 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu17.12.202008:00 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu07.01.202108:00 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu14.01.202108:00 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu21.01.202108:00 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu21.01.202108:30 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik Vorbesprechung zum Übungsteil im SS
Thu28.01.202108:00 - 10:00 OnlineE376: VU Fachvertiefung - Automatisierungs und Regelungstechnik, VO
Thu11.03.202108:00 - 17:00 ZoomÜbung 1
Fri12.03.202108:00 - 12:00 ZoomÜbung 1
Thu25.03.202108:00 - 17:00 ZoomÜbung 2
Fri26.03.202108:00 - 12:00 ZoomÜbung 2
Thu22.04.202108:00 - 17:00 ZoomÜbung 3
Fri23.04.202108:00 - 12:00 ZoomÜbung 3
Thu06.05.202108:00 - 17:00 ZoomÜbung 4
Fri07.05.202108:00 - 12:00 ZoomÜbung 4

## Examination modalities

The examination consists of the following points:

1. review of the prepared exercises and
2. participation during the course.

## Course registration

Begin End Deregistration end
01.10.2020 00:00 14.12.2020 00:00 14.12.2020 00:00

### Registration modalities

Registration is required due to organizational purposes. In addition, attendance of the first lecture is compulsory since important issues concerning content and organization will be discussed.

## Group Registration

GroupRegistration FromTo
Abgemeldete21.01.2021 12:0010.03.2021 23:59
Donnerstag 08:00 - 10:00 Gruppe 121.01.2021 12:0024.02.2021 23:59
Donnerstag 08:00 - 10:00 Gruppe 221.01.2021 12:0024.02.2021 23:59
Donnerstag 08:00 - 10:00 Gruppe 321.01.2021 12:0024.02.2021 23:59
Donnerstag 08:00 - 10:00 Gruppe 421.01.2021 12:0024.02.2021 23:59
Donnerstag 08:00 - 10:00 Gruppe 521.01.2021 12:0024.02.2021 23:59
Donnerstag 10:00 - 12:00 Gruppe 121.01.2021 12:0024.02.2021 23:59
Donnerstag 10:00 - 12:00 Gruppe 221.01.2021 12:0024.02.2021 23:59
Donnerstag 10:00 - 12:00 Gruppe 321.01.2021 12:0024.02.2021 23:59
Donnerstag 10:00 - 12:00 Gruppe 421.01.2021 12:0024.02.2021 23:59
Donnerstag 10:00 - 12:00 Gruppe 521.01.2021 12:0024.02.2021 23:59
Donnerstag 13:00 - 15:00 Gruppe 121.01.2021 12:0024.02.2021 23:59
Donnerstag 13:00 - 15:00 Gruppe 221.01.2021 12:0024.02.2021 23:59
Donnerstag 13:00 - 15:00 Gruppe 321.01.2021 12:0024.02.2021 23:59
Donnerstag 13:00 - 15:00 Gruppe 421.01.2021 12:0024.02.2021 23:59
Donnerstag 13:00 - 15:00 Gruppe 521.01.2021 12:0024.02.2021 23:59
Donnerstag 15:00 - 17:00 Gruppe 121.01.2021 12:0024.02.2021 23:59
Donnerstag 15:00 - 17:00 Gruppe 221.01.2021 12:0024.02.2021 23:59
Donnerstag 15:00 - 17:00 Gruppe 321.01.2021 12:0024.02.2021 23:59
Donnerstag 15:00 - 17:00 Gruppe 421.01.2021 12:0024.02.2021 23:59
Donnerstag 15:00 - 17:00 Gruppe 521.01.2021 12:0024.02.2021 23:59
Freitag 08:00 - 10:00 Gruppe 121.01.2021 12:0024.02.2021 23:59
Freitag 08:00 - 10:00 Gruppe 221.01.2021 12:0024.02.2021 23:59
Freitag 08:00 - 10:00 Gruppe 321.01.2021 12:0024.02.2021 23:59
Freitag 10:00 - 12:00 Gruppe 121.01.2021 12:0024.02.2021 23:59
Freitag 10:00 - 12:00 Gruppe 221.01.2021 12:0024.02.2021 23:59
Freitag 10:00 - 12:00 Gruppe 321.01.2021 12:0024.02.2021 23:59

## Curricula

Study CodeSemesterPrecon.Info
033 235 Electrical Engineering and Information Technology
045 006 Digital Skills
Course requires the completion of the introductory and orientation phase

## Literature

Lecture notes for this course and the exercise are available on the website of the institute and in the TUWEL course.

German