Controlled Mechanical Systems

Course guarantor:

Michael Valášek

Lecturer:

Václav Bauma, Zbyněk Šika, Michael Valášek

Tutor:

Václav Bauma, Zbyněk Šika, Michael Valášek

Supervisor:

Department of Mechanics, Biomechanics and Mechatronics

Synopsis:

The student will be acquainted with the main modern methods of controlled mechanical systems.

Descriptions and properties of controlled dynamic mechanical systems.

Classical feedback (PID, cascade control, Bode diagram, root locus).

State feedback (Ackermann formula).

Linear optimal control (LQR).

Output feedback.

Estimator and Kalman filter.

Optimal control.

Lyapunov stability.

Exact feedback linearization.

Sliding mode control. NQR.

Predictive control

Discrete control.

Requirements:

Syllabus of lectures:

Syllabus of tutorials:

Study Objective:

Study materials:

Lewis, F.: Applied Optimal Control and Estimation; Digital Design and Implementation, J. Wiley 1992

Sastry, S.: Nonlinear Systems: Analysis, Stability, and Control, J. Wiley1999

Rossiter, J.A.: Model-Based Predictive Control: A Practical Approach, CRC Press, 2004

Arnold, M., Schiehlen, W. (eds.): Simulation Techniques for Applied Dynamics, Springer 2009

Schiehlen, W., Valasek, M. (eds.): Virtual Nonlinear Multibody Systems, Kluwer 2003

odkaz: https://moodle-vyuka.cvut.cz/

Note:

Time-table for winter semester 2024/2025:

Time-table is not available yet

Time-table for summer semester 2024/2025:

Time-table is not available yet

The course is a part of the following study plans: