Mechatronics Systems Modeling and Control

The following key elements of mechatronics are presented in the course: physical systems modelling, sensors and actuators, signals and systems, computers and logic systems, software and data acquisition. Modelling and Simulation of Mechatronic Systems discusses the basic steady-state and dynamic modelling of electronic circuits, power electronics, hydraulic systems, pneumatic systems, mechanical systems and control systems. The governing equations as well as techniques for linearization and numerical solutions are discussed. Techniques for combining these fundamental models into models of closed-loop and open-loop and sliding mode control mechatronic systems are presented and introduced via a number of applications derived from practical examples from industry. Motion control of multi-body systems, Inverse dynamics control and decentralized control are discussed as well as interaction control with the environment. In Modelling and simulation the basic tools for systematic modelling from physics and/or experiments and simulation of those are learnt. These skills are used in many branches of mechatronics engineering.

NB! This course will take place in autumn semester 2025/2026 which starts on 1st of September and ends on 25th of January (you can find that information under Start date section). TalTech's timetables for Autumn semester 2025 will be published at the end of June via tunniplaan.taltech.ee. Switch the page to English and use "Search" and "Open detailed search" to find your course. NB! Some courses are taught by several lecturers during the same semester. Make sure that the course name and lecturer/teacher infromation of your course match with the information given in the Course Catalogue.

The learning outcome of the course is an overview and knowledge of the state-of-the-art within modelling of mechatronic systems. The successful student will know the governing equations for steady-state and dynamic modelling of the basic electronic, electrical, hydraulic, pneumatic and mechanical sub-systems of a mechatronic system. Also, the successful candidate will be capable of combining these equations into models of closed-loop controlled mechatronic systems.

Final assessment can consist of one test/assignment or several smaller assignments completed during the whole course. After declaring a course the student can re-sit the exam/assessment once. Assessment can be graded or non-graded. For specific information about the assessment process please get in touch with the contact person of this course. For specific information about grade transfer please contact your home university

engineering of mechanics; basics of mechatronics; electrical engineering; basic of control systems (PID control etc.); basics of programming

• 1. Lecture materials

practices, exercises