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72237 Advanced Control Engineering
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Danish title: Videregående Styreteknik
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| Type: Å, Language: E |
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Credit points:
5 point |
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| | | Previous course: C8221,72137 |
| Offered by:
Department of Control and Engineering Design
(IKS) |
| Prerequisite: 72131/72231,50101/50300 |
| Recommended semester:
7th - 9th semester |
| Examination:
Project work and written exam (equal weight)
(13 point scale
) |
| Remarks: Use of Matlab, Control Toolbox and Simulink. |
| Contact person: |
Jianjun Zhou, IKS, Building 358, Tel. +45 4525 6279 |
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| Aim: To learn the participants to understand and to apply modern control engineering theory and methodologies for state space modelling and design, including working on specification, analysis, simulation and synthesis of multivariable dynamic systems, in particular machines and mechanical systems. To learn to use CAE/CAD tools. |
| Contents: Formulation of the control problem and the design problem concerning design of systems for control and supervision of machines and mechanical systems. Modelling, analysis, simulation, and design of such dynamic systems using the state-space method. State-space modelling of dynamics for mechanical systems and components such as robots, transmissions, drives, gears, actuators, motors and valves. Linear time-invariant systems. Nonlinear and time-varying systems. Linearization of nonlinear systems. Formulation and evaluation of specifications. Eigenvalues and eigenvectors. Stability. Controllability and observability. State feedback control of MIMO systems. Regulator design. Servo system design. Observer design. Reduced order observer. Controller design for machines and mechanical systems. Pole-assignment method. Ackerman's formula. Discretization of continus-time systems. Computer control of mechanical systems. Regulator and servo system design of discrete-time systems with observers. Methods for modeling and control of nonlinear mechanical systems. Feedback linearization. Phase-plane analysis. Describing function analysis. Lyapunov stability analysis. Introduction to adaptive control of mechanical systems. Project work on modeling, controller design and simulation of mechanical systems. |
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