This book introduces researchers and advanced students with a basic control systems background to an array of control techniques which they can easily implement and use to meet the required performance specifications for their mechatronic applications. It is the result of close to two decades of work of the authors on modeling, simulating and controlling different mechatronic systems from the motion control, automotive control and micro and nano-mechanical systems control areas. The methods presented in the book have all been tested by the authors and a very large group of researchers, who have produced practically implementable controllers with highly successful results.
The approach that is recommended in this book is to first start with a conventional control method which may then be cascaded with a feedforward controller if the input is known or can be measured with a preview; to add a disturbance observer if unknown disturbances are to be rejected and if regulation of the uncertain plant about a nominal model is desired; and to add a repetitive controller to take care of any periodic inputs of fixed and known period. Case studies ranging from road vehicle yaw stability control and automated path following, to decoupling control of piezotube actuators in an atomic force microscope are presented. Parameter space based methods are used in the book for achieving robust controllers.
Control of Mechatronic Systems is essential reading for researchers and advanced students who want to be exposed to control methods that have been field tested in a wide variety of mechatronic applications, and for practicing engineers who design and implement feedback control systems.
Levent Guvenc is a professor of mechanical and aerospace engineering at the Ohio State University, with a joint appointment at the electrical and computer engineering department, and conducts his research in the Automated Driving Lab in the Center for Automotive Research (CAR), USA. Bilin Aksun Guvenc is a visiting professor in the Department of Mechanical and Aerospace Engineering and the Center for Automotive Research (CAR) and the Automated Driving Lab of the Ohio State University, USA. Burak Demirel is a postdoctoral scholar at the Chair for Automatic Control (EIM-E) at the University of Paderborn. Mumin Tolga Emirler is an assistant professor in the Department of Mechanical Engineering at Istanbul Okan University, Turkey.
Chapter 1: Introduction Chapter 2: Parameter space based robust control methods Chapter 3: Classical control Chapter 4: Input shaping control Chapter 5: Disturbance observer control Chapter 6: Repetitive control Chapter 7: Summary and conclusions Appendix A: Rapid control prototyping and hardware-in-the-loop simulation