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Advanced Mechatronics Engineering (MCTR 903)

The goal of this course is to allow students to design mechatronics systems. These systems should meet certain specifications and provide reasonable robustness. By the end of the course, each student should be able to do the following:
  • Derive the dynamics of a linear and nonlinear systems.
  • Analyze the stability and its margins.
  • Analyze the controllability and observability.
  • Design state observers for linear and nonlinear systems.
  • Design of feedback control systems.
  • Control of bilateral teleoperation systems with linear and nonlinear dynamics.
  • Understand the basics of real-time operating systems.
Picture

Syllabus

Syllabus.pdf
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Lecture Notes

  • Introduction: Mechatronic systems and review of linear systems
Lecture_1
File Size: 8221 kb
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  • Minimal realizations of linear systems​ and Kalman decomposition
Lecture_2
File Size: 211 kb
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  • Function of matrices and phase portraits of linear systems
Lecture_3a
File Size: 2217 kb
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Lecture_3b
File Size: 197 kb
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  • Phase portraits of nonlinear systems
Lecture_4
File Size: 2329 kb
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Phase Portrait Program
File Size: 258 kb
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  • Bifurcation theory
Lecture_5
File Size: 715 kb
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  • Lyapunov stability
Lecture_6
File Size: 1219 kb
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  • Lie brackets and feedback linearization
Lecture_7
File Size: 1507 kb
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  • Sliding mode control 
Lecture_7a
File Size: 430 kb
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Lecture_7b
File Size: 1631 kb
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  • Disturbance rejection
Lecture_8
File Size: 399 kb
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  • MIMO Systems 
lecture_10.pdf
File Size: 792 kb
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  • The principle of optimality (not included in fall 2018-2019)
Lecture_11
File Size: 4907 kb
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  • Linear Quadratic Regulation and Tracking (not included in fall 2018-2019)
Lecture_12
File Size: 279 kb
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  • Introduction to digital control and z-domain (not included in fall 2018-2019)
Lecture_13
File Size: 771 kb
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  • Digital control system design (not included in fall 2018-2019)
Lecture_14
File Size: 2057 kb
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Assignments

  • Problem set on minimal realizations and model reduction
Minimal realizations
File Size: 15 kb
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  • Problem set on phase portraits (use the phase portrait program)
Phase portraits
File Size: 18 kb
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  • Problem set on Lyapunov stability
Lyapunov
File Size: 50 kb
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Exams

Projects

Please visit OPEN POSITIONS and select a project with your group. Refer to the TAs of the course for more details pertaining to deadlines and number of members per group.
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  • Home
  • Research
    • Overview
    • Theses
    • B.Sc. Reports
  • Publications
  • Members
    • Former Staff
    • Former Students
  • Videos
  • Open Positions
    • Helical Microrobots
    • Robotic Sperms
    • Biological Microrobots
    • Magnetic Drug Carriers
    • Self-Propelled Microrobots
    • Electromagnetic Systems
    • Robotic Systems
    • Human-Computer Interaction
    • Scaled-Bilateral Telemanipulation
  • News
  • Courses
    • Advanced Mechatronics Engineering
    • Robotics
    • Nonlinear Optimization
    • Autonomous Systems
    • Medical Robotics