Controlled Mechanical Systems

Garant předmětu:

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 2022/2023:

Time-table is not available yet

Time-table for summer semester 2022/2023:

Time-table is not available yet

The course is a part of the following study plans: