The course aims at providing the student with the analytical and experimental tools for an integrated approach to mechatronics. In particular, the student's engineering preparation is completed with advanced concepts of modern control theory as well as a deep understanding of smart actuators, their advantages with respect to more traditional actuators, and how to fully exploit their potentialities. These concepts, together with the mechanical engineering background on modelling of mechanical systems and measuring techniques, allow students to design integrated mechatronic components and systems.

The course describes the methodologies for modelling and controlling mechatronic components and systems. In particular, both lumped parameter and continuous systems are dealt with. Focus is placed on smart actuators and advanced modern control techniques. In detail, the topics dealt with within the course are:

Introduction to mechatronic systems: classification of mechatronic systems, some historical background and everyday examples

Modern control techniques: linear and nonlinear optimal control, LQG, MPC; modal and resonant control

State observers: Kalman filter, Kalman-Bucy filter, Extended Kalman filter, Unscented Kalman filter

Smart actuators: piezoelectric and magnetostrictive actuators, shape memory alloys (SMA), electroactive polymers (EAP), MEMS actuators (and sensors); properties, modelling, production and applications

Applications: modelling of lumped parameter and continuous systems including the actuation, the sensing as well as the control logic; level of schematization according to the required performance and frequencies of interest

In parallel with the lessons (4 hours per week), the student has to follow 2 hours per week of training and 4 hours per week of laboratory (either on Wednesdays or on Thursdays according to the student’s needs) to numerically test the learned models and to physically implement on given benches the proposed algorithms. In particular, the available benches allow to test vibration control algorithms, motion control algorithms, industrial robots, industrial plant emulators, magnetic levitation, etc.

Note: Mechatronic Systems and Laboratory B course is carried out in the same hours of Mechatronic Systems and Laboratory A course but the program is reduced and therefore finishes earlier.

Suggested references

Besides lecture notes provided by the professor that cover the whole program of the course, interested students can deepen their knowledge on specific topics by making reference to the following books:

Bar, Cohen: "Electroactive Polymer (EAP) Actuators as Artificial Muscles"

Dai: "Intelligent Macromolecules for Smart Devices"

Engdahl: "Handbook of Giant Magnetostrictive Materials"

Heywang, Lubitz, Wersing: "Piezoelectricity: Evolution and Future of a Technology"

Uchino: "Advanced Piezoelectric Materials Science and Technology"

Qin: "Advanced Mechanics of Piezoelectricity"

Yang: "An Introduction to the Theory of Piezoelectricity"

Otsuka, Wayman: "Shape Memory Materials"

Lagoudas: "Shape Memory Alloys: Modeling and Engineering Applications"

Lexcellent: "Shape Memory Alloys Handbook"

Baglio, Castorina, Savalli: "Scaling Issues and Design of MEMS"

Gad el Hak: "The MEMS Handbook: MEMS Design and Fabrication"

Stengel: "Optimal Control and Estimation"

Cachuat: "Nonlinear and Dynamic Optimization: From Theory to Practice"

Rawlings, Mayne: "Model Predictive Control: Theory and Design"

Li, Yang, Chen, Chen: "Disturbance Observer Based Control: Methods and Applications"

• SDG9 - INDUSTRY, INNOVATION AND INFRASTRUCTURE

A thorough knowledge of the modelling of mechanical systems as well as of classical control theory is required.

The exam is based on an oral discussion about the topics dealt with within the course.

A pre-requisite for being admitted to the oral is that the student has presented the work done during the lab hours.

The discussion on laboratory activities and the questions of the oral test aim at verifying both the knowledge achievements and the related application abilities.