The practicle course will be supervised by Philipp Holzmann (philipp.holzmann@iat.tu-…). Information on the organization of the course can be found on the Moodle page of the course.

The practical course will take the form of homework, which you will work on in groups of two. Consultation hours are offered in person. Participation in the consultation hours is strongly recommended.

Supervision will take place at the times specified on the website and in Moodle. Please note that the times may change before the start of the practical course! Furthermore, only the times on the website and in Moodle apply. The times in Tucan do not apply, even if we will use them as a guide to coordinate with other courses.

To prepare for the practical course, you can already install MATLAB/Simulink 2021b as well as the Symbolic Math Toolbox and the Control Systems Toolbox. MATLAB is available to you free of charge.

Building on basic knowledge of Matlab/Simulink, this practical course covers more advanced topics. For example, the various validity spaces for variables and the use of the Matlab function bvp4c to solve boundary value problems for ordinary differential equations are addressed. A double pendulum system is used as the physical route for modeling, system analysis and controller design. The practical course consists of 5 experiments covering the following topics:

Modeling and simulation of a double pendulum system

• Linearization, controllability and observability
• LQ control and creation of an animation
• Upswing control
• Trajectory tracking control

• The practical course consists of five experiments, which are worked on in groups of two. The division into groups of two is done via Moodle.
• Attendance is not compulsory at the times indicated in the table.
• The final test consits of two tests.
• Each group must submit a protocol for each experiment. The submission takes place via upload in Moodle. The written exam counts for 60% and the protocols for 40% of the final grade.
• The Matlab files required for the experiments can be downloaded via Moodle.
• There is an experiment preparation for experiment 1, which will help you with the first experiment. This must be completed in advance.

MATLAB® and SIMULINK® basic knowledge (e.g. Laboratory Matlab/Simulink I ). Knowledge of controller design in state space (System Dynamics and Control Engineering II) is strongly recommended.

A local installation of MATLAB/Simulink 2021b, as well as the Symbolic Math Toolbox and the Control Systems Toolbox is required to carry out the practical course. You can obtain these free of charge via Mathworks with your TU e-mail address.

To refresh your MATLAB/Simulink knowledge, you can already work through the Onramp courses on the Mathworks homepage. If you wish, you will receive a certificate of attendance there.

Registration for participation in the laboratory Matlab/Simulink II takes place via TUCaN.

You must register for the exam before the first experiment.

Further information can be found in the Moodle course.