Modelling and control of mechatronic systems by the descriptor approach
Peter C. Müller · 2005
In recent years, the analysis and synthesis of control systems in a de-scriptor form has been established. The general description of dynamical systems by dierential-algebraic equations (DAE) is important for many applications in various disciplines, but particularly in mechatronics. In this contribution, the pros and cons of the modelling of mechatronic sys-tems by dierential-algebraic equations are discussed with application of subsystem modelling. Additionally, the actual state of the art simulation, analysis and design of descriptor systems are presented. Key words: descriptor systems, mechatronic systems, optimal control 1. Modelling The investigation of dynamical systems in mechanical or electrical engine-ering usually requires mathematical modelling of the system behaviour. The increasing complexity of these processes leads on the one hand to the deve-lopment of computer programs automatically generating the governing system equations (Schiehlen, 1990) for multibody systems, or on the other hand to