Title:Modellierung und Regelung komplexer dynamischer Systeme: On a Combination of Feedforward and Feedback Control for Mechatronic SystemsAuthor(s):Richard Stadlmayr, Andreas Kugi, Kurt SchlacherAbstract: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.Publisher:Shaker VerlagISBN:978-3-8322-8065-9Page Reference:109 page(s)Publishing:2009Series:Band 6