Controlled Mechanical Systems
Code | Completion | Credits | Range |
---|---|---|---|
W31OZ006 | ZK | 26P+52C |
- 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: