Introduction to programmable Logic Controllers
Ladder Logic.
Basic Instruction Set
Counters and Timers
Lab: control of a manufacturing station.
Linear algebra review
Models of mechanical systems from Newton's Laws
The Lagrangian Method
Linear and nonlinear system models.
Linear systems parameters identification.
Identification of a second order system from its step response.
Identification based on Least Square approximation.
Lab: modeling identification and controller design for the motion control experiment.
State-Space representation
Linearization around equilibrium points.
Controllability
Observability
Modal decomposition
Pole placement by state feedback
Estimators
Model Based Controllers
Lab: local analysis and stabilization of a pendubot.