 
Abbreviation: MEHTR I  Load: 30(L)
+ 5(E)
+ 10(LE)
+ 0(CE)
+ 0(PEE)
+ 0(FE)
+ 0(S)
+ 0(DE)
+ 0(P)
+ 0(FLE)
+ 0()

Lecturers in charge:  prof. dr. sc. Joško Petrić 
Lecturers:  dr. sc. Mihael Cipek
(
Exercises, Laboratory exercises
)

Course description: Course objectives: The Mechatronics concerns the synergistic application of mechanics, electronics and control systems. In such a way the better products and technologies have been attained. The aim of the course is to get acquainted students with mathematical modeling, analysis and synthesis of mechatronic systems. The interconnections of computer control systems, sensors and actuators with different mechanisms are taught, as well.
Enrolment requirements and required entry competences for the course:
Student responsibilities: Attendance of consultation. Project making.
Grading and evaluation of student work over the course of instruction and at a final exam: Activities during project making 30 % Project and oral presentation 70 %
Methods of monitoring quality that ensure acquisition of exit competences: Initial testing of input competencies. Supervision of project making.
Upon successful completion of the course, students will be able to (learning outcomes): Student will analyse a mechatronic system. He/she will choose the option and justify the choice of a design of mechatronic system. He/she will make mathematical model of a mechatronic system using Matlab/Simulink. He/she will work out the control of a mechatronic system. He/she will evaluate the characteristics and behaviour of a mechatronic system.
Lectures 1. Introduction: basic terms, examples and history 2. Mathematical modeling of mechanical and electrical systems: state space method 3. Bond graph system description 4. Analysis of mechatronic systems. Analysis of nonlinear phenomena. 5. Sensors and transducers. 6. Advanced and intelligent sensors and transducers. 7. Microprocessors, programming and interconnection. 8. Data acquisition. 9. Electroactuators. 10. Hydraulic and pneumatic elements. 11. Motion control. Nominal control. Path planing. 12. Control synthesis. Feedforward. 13. Nonlinear control: feedback linearization and sliding mode. 14. Control architecture. System integration. 15. Case study.
Exercises 1. Presentation of the laboratory equipment and experimental setups 2. Dynamic systems description using Matlab/Simulink 3. Models of basic components and systems 4. Influence of poles and zeros, time responses. Simulation of nonlinear systems. 5. Measurement of position, velocity and accelaration. 6. Advanced sensors and transducers. 7. I colloquium. 8. D/A, A/D transformation, signal filtering 9. Control of DC and AC motor. 10. Control of onoff and proportional solenoid. PWM. 11. Motor position control. 12. Velocity and position in feedback control. 13. Load compensation. Friction compensation. 14. Control synthesis using RealTime Workshop. 15. II colloquium. 
Compulsory literature: 
1.  Petrić, J.: AUTOMATSKA REGULACIJA  Uvod u analizu i sintezu, http: //titan.fsb.hr/~jpetric/Udzbenici/, 2012. 
2.  Z.Kovačić, i dr., OSNOVE ROBOTIKE, Graphis Zagreb, 2002. 
3.  W.Stadler, ANALYTICAL ROBOTICS AND MECHATRONICS, McGrawHill, 1995. 
Recommended literature:    
 