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).

• Preliminary discussion will take place on October 4^th 2017, 1:30pm in room CA0426 (computer lab at the institute).
• Exercise course starts at the beginning of October 2017
• Used software: Matlab/Simulink, Maple
• Guidelines for the exercise course:
  At least two weeks before each unit the exercises are made available on the homepage of the institute to be thoroughly prepared by the students. During the lab units the prepared exercises are discussed and new examples are elaborated. Please make sure that you already know before the kick-off meeting with whom you want to form a group of 2 persons. The registration for the groups is open after the preliminary discussion via TISS.
• For administrative questions feel free to contact Martin Meiringer, meiringer@acin.tuwien.ac.at

The examination consists of the following points:

(i) review of the prepared exercises and

(ii) participation during the course.

Lecture notes for the course are available on the website of the Institute.