Modellierung und Regelung komplexer dynamischer Systeme: On a Combination of Feedforward and Feedback Control for Mechatronic Systems (Journal or book series)

Description

This thesis tries to give an answer for the question how to design a controller for a mechatronic system in a systematic way, which achieves good tracking behavior as well as an appropriate disturbance reaction for the closed loop system. By means of a system theoretic generalization of the energy conservation principle we derive a mathematical model for the physical plant, which is the basis for the controller design. The energy-based modeling allows a sub-system formulation for each technical sub-structure as well as the derivation of a mathematical model for the overall system based on network considerations. The controller proposed in this work includes a feedforward part and a suitable state feedback controller, which stabilizes the desired trajectories. The interested reader finds several systematic approaches for the derivation of an open loop control law in the literature.

Period	2009
Type of journal	Book series