Real Time Control and Simulation (FSI-RPO)

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

The course focuses on advanced real-time simulation techniques and related software and hardware. Theoretical knowledge will be applied in laboratory exercises where students will learn the process of identifying and designing advanced controls for a real laboratory model.

Upon completion of the course, students will gain knowledge and skills in the following areas:

  • Rapid prototyping of control systems and HIL (principles, software tools and hardware).
  • System identification
  • State control
  • Kalman filter
  • Nonlinear control
  • Complex team project development
Learning outcomes and competences:
 
Prerequisites:

Knowledge of mathematics, kinematics, dynamics equal to previous studies and programming in MATLAB/Simulink.
Course contents:
 
Teaching methods and criteria:
 
Assesment methods and criteria linked to learning outcomes:

The course is graded on a standard 0-100 point scale. Students may earn up to 25 points for laboratory work, subject to completing at least 4 of the 7 assignments. Graded credit is awarded for a maximum of 75 points. Active participation in the labs is expected and attendance is mandatory. Learning is monitored on the basis of set assessment criteria.
Controlled participation in lessons:
 
Type of course unit:
    Lecture  13 × 2 hrs. optionally                  
    Laboratory exercise  13 × 2 hrs. compulsory                  
Course curriculum:
    Lecture Dynamic behaviour and properties of drive systems.
Structure of drive systems.
Interactive drive systems.
Basic drive systems: machines, gearbox - industry machines.
Basic drive systems: machines, gearbox - industry machines.
Operating states of drive systems and their stability.
Operating states of drive systems and their stability.
Computational modelling of drive systems.
Computational modelling of drive systems.
Stability of drive systems and defects.
Experimental monitoring of drive systems dynamics properties.
Linear, nonlinear and quadratic programming.
    Laboratory exercise Dynamics of rotating bodies.
Examples of drive systems structual analyses.
Basic features of torsion systems - examples.
Machines characteristics - examples.
Dynamics of gearbox systems - examples.
Dynamic properties modelling of industry machines.
Examples of drive systems control.
Computational modelling of movement systems.
Computational modelling of movement systems.
Stability of drive systems - examples.
Graded course-unit credit.
Literature - fundamental:
1. Valášek, M.: Mechatronika, skriptum ČVUT, 1995
2. Grepl, R.: Modelování mechatronických systémů v Matlab/SimMechanics, BEN - technická literatura, ISBN 978-80-7300-226-8
4. BOLTON, W. Mechatronics: Electronic Control Systems in Mechanical Engineering. Pearson Education, 1999. 372 p. ISBN: 9780582357051.
5. NELLES, O. Nonlinear System Identification: From Classical Approaches to Neural Networks and Fuzzy Models. Springer, 2000-12-12. 814 p. ISBN: 9783540673699.
Literature - recommended:
1. Valášek, M.: Mechatronika, skriptum ČVUT, 1995
2. NELLES, O. Nonlinear System Identification: From Classical Approaches to Neural Networks and Fuzzy Models. Springer, 2000-12-12. 814 p. ISBN: 9783540673699.
The study programmes with the given course:
Programme Study form Branch Spec. Final classification   Course-unit credits     Obligation     Level     Year     Semester  
N-MET-P full-time study --- no specialisation -- GCr 5 Compulsory 2 1 S