MKM 505E - Advanced Cont.Meth.Mechatronic

Course Objectives

- To teach some selected advanced control methods in Mechatronics

- To teach the techniques on stability and uncertainty modeling

- To introduce advanced control methods (i.e. adaptive, robust, optimal) in comparison

Course Description

Loop gain. Sensitivity. Complementary sensitivity. Loop shaping design. Motion control systems. Preview control systems. Two degree of freedom control architecture. The disturbance observer. Introduction to adaptive, optimal and robust control and comparison.