Robotics and Mechatronics

  1. Control Systems Engineering
    1. Foundations of Control Theory
      1. System Modeling
        1. Physical System Modeling
          1. Mathematical Models
            1. Transfer Functions
              1. Laplace Transform
                1. Poles and Zeros
                2. State-Space Representation
                  1. State Variables
                    1. State Equations
                      1. Output Equations
                    2. System Response
                      1. Time Domain Response
                        1. Step Response
                          1. Impulse Response
                            1. Ramp Response
                            2. Frequency Domain Response
                              1. Frequency Response
                                1. Bode Plots
                                  1. Nyquist Plots
                                  2. Transient Response
                                    1. Steady-State Response
                                    2. Stability Analysis
                                      1. BIBO Stability
                                        1. Routh-Hurwitz Criterion
                                          1. Nyquist Criterion
                                            1. Root Locus Method
                                              1. Bode Stability Margins
                                            2. Classical Control
                                              1. Open-Loop Control
                                                1. System Structure
                                                  1. Advantages and Disadvantages
                                                  2. Closed-Loop Control
                                                    1. Feedback Principles
                                                      1. Error Signal
                                                        1. Reference Tracking
                                                        2. Proportional-Integral-Derivative Control
                                                          1. Proportional Control
                                                            1. Proportional Gain
                                                              1. Steady-State Error
                                                              2. Integral Control
                                                                1. Integral Windup
                                                                  1. Reset Windup
                                                                  2. Derivative Control
                                                                    1. Noise Amplification
                                                                      1. Derivative Kick
                                                                      2. PID Tuning Methods
                                                                        1. Ziegler-Nichols Method
                                                                          1. Cohen-Coon Method
                                                                            1. Manual Tuning
                                                                              1. Auto-Tuning
                                                                            2. Root Locus Design
                                                                              1. Construction Rules
                                                                                1. Interpretation
                                                                                  1. Controller Design
                                                                                  2. Frequency Domain Design
                                                                                    1. Bode Plot Design
                                                                                      1. Gain Margin
                                                                                        1. Phase Margin
                                                                                          1. Lead-Lag Compensation
                                                                                        2. Modern and Advanced Control
                                                                                          1. State-Space Control Design
                                                                                            1. Controllability
                                                                                              1. Controllability Matrix
                                                                                                1. Controllability Tests
                                                                                                2. Observability
                                                                                                  1. Observability Matrix
                                                                                                    1. Observability Tests
                                                                                                    2. Pole Placement
                                                                                                      1. Ackermann's Formula
                                                                                                        1. Design Procedure
                                                                                                        2. Observers and Estimators
                                                                                                          1. Full-Order Observers
                                                                                                            1. Reduced-Order Observers
                                                                                                              1. Luenberger Observer
                                                                                                                1. Kalman Filter
                                                                                                              2. Optimal Control
                                                                                                                1. Linear Quadratic Regulator
                                                                                                                  1. Cost Function
                                                                                                                    1. Riccati Equation
                                                                                                                      1. Design Procedure
                                                                                                                      2. Linear Quadratic Gaussian
                                                                                                                      3. Robust Control
                                                                                                                        1. Uncertainty Modeling
                                                                                                                          1. H-infinity Control
                                                                                                                            1. Mu-Synthesis
                                                                                                                              1. Disturbance Rejection
                                                                                                                              2. Adaptive Control
                                                                                                                                1. Model Reference Adaptive Control
                                                                                                                                  1. Self-Tuning Regulators
                                                                                                                                    1. Parameter Estimation
                                                                                                                                    2. Nonlinear Control
                                                                                                                                      1. Linearization Techniques
                                                                                                                                        1. Feedback Linearization
                                                                                                                                          1. Sliding Mode Control
                                                                                                                                            1. Lyapunov Stability Theory

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                                                                                                                                        6. Actuators and Drive Systems

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                                                                                                                                        8. Computation and Intelligence