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72237 Advanced Control Engineering
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Danish title: Videregående Styreteknik
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Language: English
Credit points: 5 |
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| Type: | Open University
Language: English |
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Previous course: C8221,72137
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Prerequisite: 72231 or 50300
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Recommended semester: 7th - 9th semester
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Examination: Project work and written exam (equal weight) Both have to be passed. The final grade is the average reached from the two parts. (13-scale)
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Remarks: Lectures, group exercises and project assignment with laboratory implementation, Moreover, home exercises are offered.
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Department: Department of Control and Engineering Design
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Aim: To the participants to understand and to apply modern control engineering theory, principles and method for state space modelling and design. This includes working on specifications, analysis, simulation, synthesis and implementation of multivariable dynamic systems, in particular control of machines and mechanical systems. To teach the participants to apply computer based tools for analysis and design of such systems (MATLAB, SIMULINK, Real Time Vissim) as well as implementation in the laboratory (Real Time Vissim, DSpace).
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Contents: Formulation of the control problem and the design problem concerning design of systems for control of machines and mechanical systems. Modelling, analysis, simulation, design and experimental evaluation of such dynamic systems using the state-space method. State-space modelling of dynamics for components and mechanical systems such as transmissions, gears, drives, valves, actuators, and robots. Linear time-invariant systems. Nonlinear and time-varying systems. Linearization of nonlinear systems. Formulation and evaluation of specifications. Eigenvalues and eigenvectors. Stability analysis. 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 continuous-time systems for computer control of mechanical systems. Regulator and servo system design of discrete-time systems with observers. Methods for modelling and control of nonlinear mechanical systems. Project work with laboratory impelmentation based upon modelling, controller design, simulation and experimental evaluation of mechanical systems.
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