Control of mechatronic systems
- Faculty
Faculty of Engineering and Computer Science
- Version
Version 1 of 23.01.2026.
- Module identifier
11M2235
- Module level
Master
- Language of instruction
German, English
- ECTS credit points and grading
5.0
- Module frequency
irregular
- Duration
1 semester
- Brief description
Mechatronic systems are often characterised by significantly
non-linear behaviour of many coupled control variables. In these cases, classic methods of linear single-variable control are no longer effective. This module introduces linear multi-variable control systems and selected non-linear methods that have proven to be practical for important areas of application in mechatronics (robot control, autonomous vehicles)
.
- Teaching and learning outcomes
- Modelling: multi-body dynamics, systems with locally distributed parameters, natural vibrations, controllability of nonlinear systems,
modelling of uncertainties, underactuated systems, stability in nonlinear systems - Multi-variable control: modal control, H2, H-infinity control
- Combination of feedforward and control (flatness-based control,
exact linearisation, inverse dynamics) - Selected nonlinear methods (iterative learning controllers, gain scheduling, sliding mode control, backstepping)
- Modelling: multi-body dynamics, systems with locally distributed parameters, natural vibrations, controllability of nonlinear systems,
- Overall workload
The total workload for the module is 150 hours (see also "ECTS credit points and grading").
- Teaching and learning methods
Lecturer based learning Workload hours Type of teaching Media implementation Concretization 15 Laboratory activity Presence - 30 Lecture Presence - Lecturer independent learning Workload hours Type of teaching Media implementation Concretization 40 Preparation/follow-up for course work - 45 Creation of examinations - 20 Reception of other media or sources -
- Graded examination
- Project Report, written or
- oral exam
- Remark on the assessment methods
Graded examination format: by arrangement with the students.
Several small Matlab programming assignments (homework – not a traditional lab/practicum).
Approximately six attempts.
- Exam duration and scope
Project report (written): 5-minute short presentation; written report: 10–20 pages.
Oral examination: see the General Section of the Examination Regulations.
- Recommended prior knowledge
Fundamentals of control engineering (controller design for linear systems); fundamentals of mechanical system modeling.
- Knowledge Broadening
Graduates have a broad overview of modern control engineering processes and understand the application-specific aspects from a mechatronics perspective.
- Application and Transfer
Graduates are able to classify the requirements of mechatronic control systems in the context of modern control approaches. They solve the corresponding problems using suitable software tools and can transfer the results to the mechatronic application problem.
- Academic Self-Conception / Professionalism
Graduates are able to understand current scientific literature on the control of mechatronic systems and apply it to new applications.
- Literature
- F. Bullo, A. D. Lewis: Geometric control of mechanical systems: Modeling, analysis and design of simple mechanical control systems. Springer, 2019.
- J. Lunze: Regelungstechnik 2. Springer, 2020.
- W. M. Haddad, V. Chellaboina: Nonlinear dynamical systems and control: A Lyapunov-based approach. Princeton University Press, 2008.
- J. Adamy: Nonlinear Systems and Controls. Springer, 2024.
- J. Rudolph: Flatness-Based Control. Shaker Verlag. 2021.
- Applicability in study programs
- Mechatronic Systems Engineering
- Mechatronic Systems Engineering M.Sc. (01.09.2025)
- Person responsible for the module
- Rehm, Ansgar
- Teachers
- Rehm, Ansgar