|Type||Lecture (3 SWS) + Exercise (2 SWS)|
- Modeling of dynamic systems: First principles models, state space representation, DAE systems, classes of systems, models, and signals, linearity and causality, steady states, operability, singular value decomposition, stability, linearization.
- Linear state space theory: Autonomous behavior, eigenvalues, eigenvectors, Jordan form, controllability and pole assignment, LQ-optimal control, observability, observers, observer-based control, Kalman decomposition.
- Laplace transform and transfer matrices: Introduction to the Laplace transform, transfer functions, poles, zeros, minimal realization, zeros of multivariable systems, frequency response, input-output stability.
- Design of single-loop controllers: Internal stability, performance specification, classical SISO controller design, robust stability and performance, performance limitations
- Discrete-time and sampled data systems: z-transform, z-transform of sampled data systems, stability, dead-beat control, w-transform
This course provides the students with a solid background in control theory which is a prerequisite to solve automation problems in robotics as well as in production processes of all kinds.
|Exam||Written (120 min)|
|Literature||The slides of the course and any additional materials such as literature lists and website recommendations will be published in the virtual workrooms in Moodle provided for this purpose. Details will be announced at the beginning of the course.|
Only the information found in the LSF and the most recent edition of the Modulhandbuch der Fakultät
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