| Course objectives: |
| The PhD Student student deepens his theoretical and practical knowledge analyzing and designing of the mechatronics systems. |
| Course content and structure: |
| Definitions: mechatronics, system, system parameters, state variables. Extended Hamilton principle, Lagrange equation of the second kind, differential equations of mechatronic systems. System of equation of inverted pendulum, linearization. Laplace transformation, transfer function. Stability of time invariant systems. Nyquist stability criterion of feedback systems. State space representation. The mathematical conditions of controllability, observability. Lyapunov stability of the state space representation. Design of state feedback with pole placement. State feedback with optimum control (LQR), CARE. Analysis of the inverted pendulum. |
| Evaluation method: |
| Completion of a written exam: excellent (85-100%), good (73-84%), moderate (61-72%), sufficient (50-60%). |
| Required reading: |
| 1. Robert H. Bishop: The Mechatronics Handbook, 2002 CRC Press, Boca Raton-London-New York-Washington, D.C.2. Klaus Janschek: Mechatronic Systems Design, Springer, 2012. |
| Suggested reading: |
| 1. Bradly, DA., Dwason, D., Burd, NC., Loader, AD.: Mechatronics, Electronics in products and processes, CRC Press, Taylor and Francis Group, Boca Raton, London, New York, 1991.2. Isermann, R.: Mechatronics Systems, Fundamentals, Springer, 2005.3. de Silva: Mechatronics, An Integrated Approach, CRC Press, Taylor and Francis Group, Boca Raton, London, New York, Washington D.C., 2004. |
