Richard Stadlmayr, Hrg. Andreas Kugi, Hrg. Kurt Schlacher,
"Modellierung und Regelung komplexer dynamischer Systeme: On a Combination of Feedforward and Feedback Control for Mechatronic Systems"
, Serie Band 6, Shaker Verlag, Shaker Verlag GmbH, P.O. Box 101818, 52018 Aachen, 2009, ISBN: 978-3-8322-8065-9
Modellierung und Regelung komplexer dynamischer Systeme: On a Combination of Feedforward and Feedback Control for Mechatronic Systems
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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.