Dynamisk Simulering av Reguleringssystemer

Introduction to the concept of dynamical systems. Examples from nature, biology, economics, physics, engineering. The concept of feedback: comparison between open-loop systems and closed-loop systems. Linear systems vs nonlinear systems. Linearization of nonlinear systems. Simulation as a means to assess dynamic system behaviour. Introduction to Matlab/Simulink. Simulation of open-loop and closed-loop systems by means of Matlab/Simulink. Differential equations as a tool to represent dynamic systems. State-space representation vs input/output representation. Rigid-body mechanics as a basis for modelling mechanical systems from engineering such as robots, marine vessels and airplanes. Rigid-body kinematics. Parametrizations of rotations. Rigid-body dynamics (Newton-Euler, Lagrange).

Learning outcome - Knowledge: The candidate knows how to model dynamic systems by use of physical conservation laws. Knows how to use systems of ODEs to decribe models by mathematics. Knows how to build and solve state-space models. Understands the use of feedback loops in the time domain. Understands how to linearize non-linear systems. Learning outcome - Skills: The candidate can apply Matlb/Simulink to implement and solve dynamic systems, both open-loop and closed-loop systems. Can build real-world dynamic systems in the lab. Learning outcome - Competence: The candidate can analyze an model unknown real-world systems. Has an understanding of how to approach a system to give it a mathematical describtion.

Lectures. Assignments. Lab-work: application of the course material to a real-world dynamical system (e.g., Quanser QUBE, Quanser servo, Quanser rotary system).