Course detail

Control of Mechatronic Systems

FSI-RRMAcad. year: 2020/2021

Control theory of linear discrete systems, Z-transform, transfer functions, feedback systems, stability of feedback systems, design of digital controllers, discrete state feedback control, discrete state feedback control with an observer, discrete state feedback control with disturbing compensation, implementation of discrete algorithms in microcomputers, examples of control of mechatronic systems (NC machines, robots).

Learning outcomes of the course unit

Acquired knowledge enables students to solve dynamic systems in the time domain as well as in the frequency domain, to design feedback controllers with a prescribed behavior of the closed loop, application for a position control of servodrives for NC machines and robots


Linear differential equations, matrix calculus, principles of electrical engineering, mechanics, electrical servodrives


Not applicable.

Recommended optional programme components

Not applicable.

Recommended or required reading

Ogata, K.: Modern Control Engineering, Prentice Hall,1997
Skalický, J.: Teorie řízení 1, skripta VUT FEKT, 2002
Vavřín, P.:: Teorie automatického řízení 1, skripta VUT FEI, 1991
Philips, Ch. a j.: Digital Control System Analysis and Design, Prentice Hall, 1995
Kotek, Z., a j.: Teorie automatického řízení spojitých lineárních systémů,ČVUT Praha, 1977
Zboray, L. a j.: Stavové riadenie el. pohonov, FEI KOšice, 1995

Planned learning activities and teaching methods

The course is taught through lectures explaining the basic principles and theory of the discipline. Teaching is suplemented by practical laboratory work.

Assesment methods and criteria linked to learning outcomes

The course-unit credit is awarded on condition of having to elaborated given problems. Individual solution is expected applying program MATLAB/SIMULINK. Examination has a written and an oral part.

Language of instruction


Work placements

Not applicable.


The goal of the subject is to provide students with basic knowledge of control theory of dynamical systems and its application to control mechatronic and robotic systems by a feedback controller.

Specification of controlled education, way of implementation and compensation for absences

Attendance at practical training is obligatory.

Classification of course in study plans

  • Programme N-MET-P Master's, 1. year of study, summer semester, 2 credits, elective

Type of course unit



39 hours, optionally

Teacher / Lecturer


1. Introduction, dynamic systems, mathematical models
2. State space representation of dynamic systems, the meaning of eigenvalues of A matrix
3. Transfer functions, frequency response, time response
4. Block diagrams of control systems
5. Feedback systems, stability
6. Types of controllers
7. Design of feedback systems,
8. State feedback control
9. State feedback control with an observer
10.Digital control systems
11.Discrete control theory, Z-transform
12.Design method of numeric controllers
13.Discrete state control

Laboratory exercise

39 hours, compulsory

Teacher / Lecturer


Laboratory exercises with MATLAB
1. Analysis of dynamic systems, mechanic and electromechanic systems
2. State equations, solution of state equations, SIMULINK models
3. Derive of transfer functions and frequency responses
4. Miniproject: feed drive: block diagram, system analysis
5. Miniproject: design of speed- and position controllers
6. Miniproject: simulation of dynamic behaviour, interpolation in the plane
7. Control of systems with elastic coupling, state controller
8. Control of systems with elastic coupling, state controller with an observer
9. Design of a discrete PID controller
10.Design of a state controller with an observer
11.Design of a "dead beat" discrete controller
12. Structures of control systems, hardware, software
13. Course-unit credit