Modeling and Control of Mechatronic Systems
Topic 4 : Features of a Continuous-time Transfer Function
Dr Jayantha Katupitiya
Topic 4
Features of a Continuous Time Transfer
Function
In the last few sections we learnt about how to obtain the transfer functi

SCHOOL OF MECHANICAL AND MANUFACTURING ENGINEERING
THE UNIVERSITY OF NEW SOUTH WALES
MECH9211 - MODELLING AND CONTROL OF MECHATRONIC
SYSTEMS
TUTORIAL 3
1.
Find the z-transforms of the unit impulse (Kronecker Delta), step input and the two
curves shown bel

SCHOOL OF MECHANICAL AND MANUFACTURING ENGINEERING
THE UNIVERSITY OF NEW SOUTH WALES
MECH9211 - MODELLING AND CONTROL OF MECHATRONIC
SYSTEMS
TUTORIAL 2
1.
The close loop transfer function of a particular system can be expressed as:
C ( s)
K
3
2
R( s) s a

Modeling and Control of Mechatronic Systems
Exercise 4: Design of Control Systems - Direct Analytical Method
Dr Jayantha Katupitiya
Exercise 4
Design of Control Systems - Direct
Analytical Method
A system plant transfer function is given as,
Gp(s) =
1
s(s

Design of Observer Controller Pair
MTRN3020 MODELLING AND CONTROL OF MECHATRONIC SYSTEMS
Abstract
This provides an example where both the controller and the predictive estimator is described.
The question is extracted from John Dorseys Continuous and Disc

Modeling and Control of Mechatronic Systems
Exercise 5: Design of Control Systems - Indirect Design in Frequency
Domain
Dr Jayantha Katupitiya
Exercise 5
Design of Control Systems - Indirect
Design in Frequency Domain
Note: This question is extracted from

Modeling and Control of Mechatronic Systems
Exercise 3: Mathematical Modeling and Simulation of an Anti-lock
Braking System
Dr Jayantha Katupitiya
Exercise 3
Modeling and Control of an Anti-lock
Braking System
The aim of this exercise is to model an anti-

Modeling and Control of Mechatronic Systems
Exercise 2: Mathematical Modeling and Simulation of an Inverted
Pendulum
Dr Jayantha Katupitiya
Exercise 2
Modeling and Control of an Inverted
Pendulum
The aim of this exercise is to model an inverted pendulum m

Modeling and Control of Mechatronic Systems
Exercise 1 : Mathematical Modeling and Simulation
Dr Jayantha Katupitiya
Exercise 1
Using Matlab for Simulation
Aim
The aim of this exercise is to learn how to use Matlab scripting language to write programs to

Laboratory Experiment I : Modelling of a Monorail Crane
MTRN3020 Modelling and Control of Mechatronic Systems
Abstract
This laboratory exercise is to obtain a model of the monorail crane in L220 laboratory and
then to verify the model using experimental d

% another root locus example 2
clc; clear all; close all;
% plant: Gp=K/[s^2+4*s+8]
% open-loop step response for diff K
close all;
K=inputdlg('Kmax=?'); K=str2num(Kcfw_1);
figure;
for k=linspace(0,K,10),
num=k;
den=[1 4 8];
step(ss(tf(num,den),10);
if k=

Modeling and Control of Mechatronic Systems
Topic 5 : Root Locus
Dr Jayantha Katupitiya
Topic 5
Root Locus
Root Locus is one of the primary design and analysis tools we will be using right throughout this course.
This section will describe the root locus,

Modeling and Control of Mechatronic Systems
Topic 3 : Mathematical Modeling and Transfer Functions
Dr Jayantha Katupitiya
Chapter 3
Mathematical Modeling and Transfer
Functions
3.1
System Models
By designing and implementing a control system we expect the

Modeling and Control of Mechatronic Systems
Topic 9 : Discrete-time Systems: CE, Time Response and Modied
z-transforms
Dr Jayantha Katupitiya
Topic 9
Discrete-time Systems: CE, Time
Response and Modied z-transforms
Under this topic we will investigate the

Modeling and Control of Mechatronic Systems
Topic 6 : Discrete-Time Systems
Dr Jayantha Katupitiya
Topic 6
Discrete-Time Systems
In the last few Chapters, we exclusively dealt with continuous-time systems. All elements that formed
various parts of the ent

Modeling and Control of Mechatronic Systems
Topic 7 : Sampling
Dr Jayantha Katupitiya
Topic 7
Sampling
Sampling is essential for the implementation of discrete-time control systems. Sampling is the process
of taking snap shots of signals at regular time i

Modeling and Control of Mechatronic Systems
Topic 8 : Discretization of State Space Models
Dr Jayantha Katupitiya
Topic 8
Discretization
In preparation for the design of discrete time control systems, the continuous time representations
of systems must be