After successful completion of the course, students are able to

• simulate and analyse the dynamic system behavior (incl. stability) of mechatronic systems utilizing Matlab/Simulink.
• design and implement nonlinear control strategies based on Lyapunov theory (Backstepping, PD-control, computed torque).
• develop nonlinear control strategies utilizing differential geometric and algebraic methods (flatness, exact input to state linearization).

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).

lab course, 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

• Preliminary discussion will take place on October 6^nd 2021, 1:30pm in Web-Meeting.
• Exercise course starts at the beginning of October 2021
• 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.
• In case the COVID-19 situation does not allow the lab course to take place in presence, the course will move to Zoom meetings in groups of two.
• For administrative questions feel free to contact Moien Reyhani, reyhani@acin.tuwien.ac.at

The examination consists of the following points:

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

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