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.

Syllabus

Syllabus.pdf
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Lecture Notes

• Introduction: Mechatronic systems and review of linear systems

Lecture_1
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• Minimal realizations of linear systems​ and Kalman decomposition

Lecture_2
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• Function of matrices and phase portraits of linear systems

Lecture_3a
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Lecture_3b
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• Phase portraits of nonlinear systems

Lecture_4
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Phase Portrait Program
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• Bifurcation theory

Lecture_5
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• Lyapunov stability

Lecture_6
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• Lie brackets and feedback linearization

Lecture_7
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• Sliding mode control 

Lecture_7a
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Lecture_7b
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• Disturbance rejection

Lecture_8
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• MIMO Systems 

lecture_10.pdf
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• The principle of optimality (not included in fall 2018-2019)

Lecture_11
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• Linear Quadratic Regulation and Tracking (not included in fall 2018-2019)

Lecture_12
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• Introduction to digital control and z-domain (not included in fall 2018-2019)

Lecture_13
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• Digital control system design (not included in fall 2018-2019)

Lecture_14
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Assignments

• Problem set on minimal realizations and model reduction

Minimal realizations
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• Problem set on phase portraits (use the phase portrait program)

Phase portraits
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• Problem set on Lyapunov stability

Lyapunov
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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.