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Mechanical Engineering Department
ME 490-Control of Mechatronic Systems


Course Objectives:
This course provides discussion of control algorithms, 
estimation and identification methodologies for mechatronic
systems. The discussion is intended to provide understanding
of linear controller design based on pole-placement technique;
estimation algorithms; feed-forward controller for tracking 
controllers; and practical performance issues. The course will
be more lecture oriented, but the audience will be provided
with the design experience via simulations of successful 
mechatronic systems, such as hard disk drive and intelligent
vehicles.


Outline:

Introduction [1 wk]
   Study of sampled mechanical system 
   Review of classical control theory
   Disturbances and nonlinearities of mechatronic systems

Digital control of mechatronic System [5 wks]
   State space model of mechatronic systems
   Linear system stability based on Lyapunov Function
   Linear controller design based on pole-placement
   Multirate controller design 

Tracking control of mechatronic systems [4 wks]
   Internal Model Principle and Repetitive controller
   Disturbance observer
   Adaptive LMS feedforward compensation

Estimation and identification of stochastic mechatronic
                                        systems [6 wks]
   Review of random process
   Estimation of stochastic mechatronic systems
   Discrete time models
   Identification of stochastic mechatronic systems



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