78983 - Mechatronics Systems Modeling and Control M

Learning outcomes

At the end of the course the student knows the main principles and methodologies for the integrated development of a mechatronic system, starting from its modelling and simulation, towards the implementation of proper control laws, that can be verified on the simulative model. Such general principles are then examined in deep and with a more applicative and control-oriented perspective, thanks to one or more projects that students have to develop under the instructor supervision. Lab activities on real setups characterize this course. At the end of the course the students will master lab tools for programming control system units and have a deep understanding of issues regarding implementation of real time control systems.

Course contents

The course aims at providing a general framework, and a set of methodologies and tools for the design of mechatronic systems. The main “theoretical” topics deal with

• (Physical) Modelling of dynamical systems,
• Numerical simulation,
• Mono- and multi-objective optimisation techniques.

Beside several examples discusses during the classes, compulsory projects are proposed to let the students apply on real world case studies the techniques presented during the lectures.

In brief, for each key topic, the main contents are the following:

(Physical) Modelling of dynamical systems

• Multi-port systems and bond graphs
• Basic components models
• System models in several domains
• Multi-port fields and junctions
• Advanced modelling techniques

Numerical simulation

• Causality analysis
• Introduction to Matlab Simscape
• Simscape modelling language
• Setting up a simulation for different domains

Mono- and multi-objective optimisation techniques

• Basic theory, with examples
• System design via optimisation

Readings/Bibliography

System Dynamics: Modeling, Simulation, and Control of Mechatronic Systems
D.C. Karnopp, D.L. Margolis, R.C. Rosenberg
John Wiley & Sons, 2012

Mechatronic Systems: Fundamentals
R. Isermann
Springer-Verlag London, 2005
ISBN 978-1-85233-930-2

Mechatronics by Bond Graphs: An Object Oriented Approach to Modelling and Simulation
V. Damic, J. Montgomery
Springer Science & Business Media, 2015
ISBN 978-3-662-49002-0

Multiobjective Optimization: Principles and Case Studies
Y. Collette, P. Siarry
Springer Science & Business Media, 2004
ISBN 978-3-540-40182-7

Matlab & Simulink Documentation
(of several toolboxes/packages)

Teaching methods

The course consists of two main modules. The first one (6 CFUs) aims at providing the general theory and methodologies, that are then applied in the second module (3 CFUs) on real world case studies, either in simulation and in laboratory.

Assessment methods

The exam is oral and consists of two main parts. In the first one, the student's knowledges about the first part of the course, i.e. the "theory", are verified, while in the second one the student has to illustrate the project carried out in the second part of the course.

Both parts have to be taken together starting from the summer session in a unique attempt. Differently, the first part only in the winter session, if desired. In this case, the second part has to be taken starting from the summer session.

Office hours

See the website of Alessandro Macchelli