Modeling and Simulation I (FSI-RDO-A)

Academic year 2025/2026
Supervisor: doc. Ing. Robert Grepl, Ph.D.  
Supervising institute: ÚMTMB all courses guaranted by this institute
Teaching language: English
Aims of the course unit:

Students will learn about modelling dynamic systems (mechanical, electromechanical and controlled) on a computer. During the course they will acquire knowledge and skills in the following areas:

  • Linear dynamical systems and their analysis
  • Modeling in MATLAB/Simulink environment
  • Modeling of controlled systems
  • Hands-on experience in controlling a real system using an I/O card from MATLAB/Simulink

This course combines theoretical knowledge with practical use in engineering applications.
Learning outcomes and competences:
 
Prerequisites:
 
Course contents:
 
Teaching methods and criteria:
 
Assesment methods and criteria linked to learning outcomes:

The course grade is based on a standard 0-100 point scale. The evaluation includes one test and a semester project. Participation in the exercises is compulsory. Attendance and activity in the exercises are monitored in accordance with the assessment criteria set for the exercises.
Controlled participation in lessons:
 
Type of course unit:
    Lecture  13 × 2 hrs. optionally                  
    Laboratory exercise  13 × 1 hrs. compulsory                  
    Computer-assisted exercise  13 × 1 hrs. compulsory                  
Course curriculum:
    Lecture

  1. Direct and inverse kinematics (fkine, ikine)

  2. Denavit-Hartenberg (DH) parameters

  3. Robotic Toolbox and UR5 robot

  4. Practical task on fkine/ikine

  5. Quaternions

  6. Kinematics and dynamics of wheeled vehicles

  7. Dynamics and kinematics of mechanisms (repeat of LR2)

  8. SimScape (repeat)

  9. SimScape Multibody

  10. Solving n equations with m unknowns, ordinary least squares (OLS)

  11. Systems Identification I.

  12. Identification of systems II.

  13. Feedforward control
    Laboratory exercise 7.-12. Experimental work - control of real system from PC
13. Presentation of semestral project, assignment.
    Computer-assisted exercise

  1. Direct and inverse kinematics (fkine, ikine)

  2. Denavit-Hartenberg (DH) parameters

  3. Robotic Toolbox and UR5 robot

  4. Practical task on fkine/ikine

  5. Quaternions

  6. Kinematics and dynamics of wheeled vehicles

  7. Dynamics and kinematics of mechanisms (repeat of LR2)

  8. SimScape (repeat)

  9. SimScape Multibody

  10. Solving n equations with m unknowns, ordinary least squares (OLS)

  11. Systems Identification I.

  12. Identification of systems II.

  13. Feedforward control
Literature - fundamental:
1. Valášek M. a kol.: Mechatronika, Vydavatelství ČVUT Praha, 1995
2. web Mathworks, http://www.mathworks.com/
3. Karban, P.: Výpočty a simulace v programech MATLAB a Simulink, cpress 2006
4. Pelánek, R.: Modelování a simulace komplexních systémů, MUNI, 2011
Literature - recommended:
1. Valášek M. a kol.: Mechatronika, Vydavatelství ČVUT Praha, 1995
2. web Mathworks, http://www.mathworks.com/
3. Grepl, R.: Modelování mechatronických systémů v Matlab/SimMechanics, BEN - technická literatura, ISBN 978-80-7300-226-8
4. Karban, P.: Výpočty a simulace v programech MATLAB a Simulink, cpress 2006
The study programmes with the given course:
Programme Study form Branch Spec. Final classification   Course-unit credits     Obligation     Level     Year     Semester  
B-STI-Z visiting student --- no specialisation -- Cr,Ex 6 Recommended course 1 1 W