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Scheda Riassuntiva
Anno Accademico 2018/2019
Scuola Scuola di Ingegneria Industriale e dell'Informazione
Docente Braghin Francesco
Cfu 10.00 Tipo insegnamento Monodisciplinare

Corso di Studi Codice Piano di Studio preventivamente approvato Da (compreso) A (escluso) Insegnamento

Obiettivi dell'insegnamento

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 new concepts are joined with the mechanical engineering background on modelling of mechanical systems and measuring techniques to develop integrated mechatronic components and systems.

Risultati di apprendimento attesi
Knowledge and understanding

After passing the exam, the student:

- knows the methodologies to design an advanced control logic for mechanical systems
- knows the rules of state observers
- understands how smart actuators work, their potentialities and their field of application
- knows how to design and control a mechatronic component or system (both from a theoretical and practical point of view)
- knows how to analyze and improve the performances of a mechatronic component or system (both from a theoretical and practical point of view)

Ability to apply knowledge and understanding

After passing the exam, the student:

- is able to synthetize modern control algorithms for both linear and nonlinear mechanical systems
- is able to implement a state observer for both avoiding the use of costly sensors as well as for filtering noisy data
- is able to choose the right actuator for the given mechanical system and the desired performances
- is able to carry out an integrated design of a mechatronic component or system given required performances
- is able to test and fine tune the mechatronic component or system

Argomenti trattati

The course describes the methodologies for modelling and controlling mechatronic components and systems. In particular, both lumped parameter and continuous mechatronic 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

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

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

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

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

In parallel with the lessons (4 hours per week), 2 hours per week of training and 4 hours per week of laboratory (either on Wednesday or on Thursday according to the student’s needs) are carried out 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 (nonlinear control techniques are not included) 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"

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

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


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

Modalità di valutazione

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.


Forme didattiche
Tipo Forma Didattica Ore di attività svolte in aula
Ore di studio autonome
Laboratorio Informatico
Laboratorio Sperimentale
Laboratorio Di Progetto
Totale 100:00 150:00

Informazioni in lingua inglese a supporto dell'internazionalizzazione
Insegnamento erogato in lingua Inglese
Disponibilità di materiale didattico/slides in lingua inglese
Disponibilità di libri di testo/bibliografia in lingua inglese
Possibilità di sostenere l'esame in lingua inglese
Disponibilità di supporto didattico in lingua inglese
schedaincarico v. 1.6.5 / 1.6.5
Area Servizi ICT