The main objective of this course is the practical application of the contents of the lectures 'Control Systems 2' and 'Automation'. In particular the design of nonlinear feedforward and feedback control as well as observer strategies will be carried out for specific applications and validated by means of simulations and measurements on lab experiments.
Simulation of mechatronic systems in Matlab/Simulink; controller design for nonlinear continuous-time and discrete-time systems utilizing the Lyapunov theory (PD-control law, computed torque, backstepping) and the method of exact linearization (flatness based feedforward control with tracking control and tracking observer).
The examination consists of the following points:
(i) review of the prepared exercises and
(ii) participation during the course.
The student must have at least 1 of the course(s) completed listed below:
Lecture notes for the course are available on the website of the Institute.
