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ME4633: Precision Motion Systems and Control
ME4633: Precision Motion Systems and Control
Period: Q4
This MSc course explores advanced modelling and control techniques for precision motion systems, combining theoretical foundations with practical design and implementation. Building on prior knowledge of mechatronics and systems & control, the course addresses modern methods used in high-performance industrial applications.
By the end of the course, students will be able to:
Model and analyse complex dynamics in precision motion systems.
Design active vibration isolation and damping strategies using feedback and feedforward control.
Apply advanced feedforward methods, including iterative learning control, to improve motion accuracy.
Analyse and design nonlinear reset controllers to overcome fundamental limitations of linear control.
Topics include: active vibration isolation, active damping, trajectory design, model-based feedforward, iterative learning control, nonlinear reset control, describing functions, HOSIDF, robustness, and performance analysis.
The course is fully project-based and uses MATLAB and Simulink, with a mini-project at the end of each module.
EE3540TU: Mechatronics
EE3540TU: Mechatronics
Period: Q2
This BSc course introduces the foundations of mechatronic systems by integrating mechanics, electronics, sensing, actuation, modelling, and control. It connects fundamental theory with practical engineering applications in modern motion systems.
By the end of the course, students will be able to:
Understand the main building blocks of mechatronic systems and how they interact.
Model and analyse electromechanical systems using physical models, measurements, and system identification.
Design and implement basic servo and digital control solutions for practical mechatronic applications.
Topics include: electronics, sensors, actuators, mechanical dynamics, system identification, servo control, vibration isolation, and digital control.
ME46085-23: Mechatronic Systems Design
ME46085-23: Mechatronic Systems Design
Period: Q2
Period: Q2
The MSc course covers the following three main subjects:
1: Dynamics of motion systems in the time and frequency domain, including analytical frequency transfer functions that are represented in Bode and Nyquist plots.
2: Electromechanical actuators, mainly based on the electromagnetic Lorentz principle. Reluctance force and piezoelectric actuators will be shortly presented to complete the overview.
3: Motion control in the frequency domain with PID and model-based feedforward control-principles that effectively deal with the mechanical dynamic anomalies (resonances and eigenmodes) of the plant.
DISC PhD course: Nonlinear Control for Performance in Frequency domain
DISC PhD course: Nonlinear Control for Performance in Frequency domain
Period: Q3
Period: Q3
Students who complete this graduate course will be able to analyze and design nonlinear control systems, in particular variable gains, reset control, and hybrid integrator gain systems. In the industry, linear (motion) control technology has succeeded largely because of its ability to be designed and analyzed using frequency-domain techniques with respect to the sensitivity to disturbances (such as external disturbances or measurement noise) as well as uncertainties for example in higher-order plant dynamics. In this context, one can think of the motion control of wafer scanners, printers, optical storage drives, robots, etc. For nonlinear control, however, most of the attention has been focused on simply ensuring stability. To develop high-performance nonlinear controllers, therefore, it is necessary to develop quantitative performance analysis methods for such nonlinear control systems. In this course, we will present several methods to design and analyze high-performance nonlinear control systems in the presence of disturbances using frequency-domain techniques. These techniques can be used to design nonlinear control systems that outperform linear control systems. Numerous industrial applications, such as the (variable-gain) motion control of stages in wafer scanners, objective lenses in optical storage and hard-disk drives, as well as precision positioning stages, illustrate the feasibility of this approach.
Other courses
Other courses
WB5452-14, Introduction to precision and microsystem engineering lab, Since 2015
Vibration Control lecture in Advanced Mechanics, Graduate Course, 2016, 2021
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