Dynamics of motion systems in the time and frequency domain, including analytical frequency transfer functions that are
represented in Bode and Nyquist plots.
Electromechanical actuators, mainly based on the electromagnetic Lorentz principle. Reluctance force and piezoelectric
actuators will be shortly presented to complete the overview.
Motion control in the frequency domain with PID and advanced fractional order PID-feedback and model-based feedforward
control-principles that effectively deal with the mechanical dynamic anomalies (resonances and eigenmodes) of the plant.
Vibration control and active damping for mechatronics application.
Nonlinear Control and Systems Theory
Dynamical System Modeling: State-Space Models, Linearization of Nonlinear Models, Nonlinear Phenomena, Equilibrium Point, Differential-Algebraic Model Equations, From Rn to Manifolds
Stability and Stabilization: Autonomous Systems, Stability and Instability, Asymptotic and Exponential Stability, Lyapunov’s Linearization Method, Local Versus Global Stability, Lyapunov’s Direct Method, Properties of Lyapunov Functions, Lyapunov Theorem for Local Stability, Lyapunov Theorem for Global Stability, Local and Global Invariant Set Theorem, Stabilization Based on Linearization, Stabilization using Lyapunov’s direct method
Dissipative and Passive Systems: Introduction to Dissipative and Passive Systems, Passivity and Stability, Hill-Moylan Conditions, Stability of Interconnected Passive Systems, Strict Output Passivation of Passive Systems
Controllability and Observability of Nonlinear Systems: Lie Derivatives, Lie Brackets, Distributions, Integrability of Distributions, Controllability, Observability
Feedback Linearization: Conditions for Feedback Linearization, Input-State Linearization, Input-Output Linearization
Robust and Multivariable Control Design
Multivariable system control: Nyquist, interaction, decoupling
Directionality in multiloop control, gain and interaction measure
Stabilizing controllers and the concept of the generalized plant