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Code ME 304
Term 201602
Title Motion Control Systems
Faculty Faculty of Engineering and Natural Sciences
Subject Mechatronics(ME)
SU Credit 3
ECTS Credit 6.00 / 6.00 ECTS (for students admitted in the 2013-14 Academic Year or following years)
Instructor(s) Meltem Elitas,
Detailed Syllabus
Language of Instruction English
Level of Course Undergraduate
Type of Course Click here to view.
(only for SU students)
Mode of Delivery Formal lecture,Interactive lecture,Recitation,Laboratory
Planned Learning Activities Interactive,Learner centered,Communicative,Discussion based learning,Project based learning,Simulation

Upon completion of this course students will be able to deal with control design for the systems with plant nonlinearities. The subjects will include: Lyapunov stability (Lyapunov direct method, BIBO systems, passivity); frequency methods (describing function, limit cycles, small gain theorem); motion control (1 dof systems, typical nonlinearities, friction, backlash, dead zone, systems with discontinuities); MIMO systems (converters and machines, robotic manipulators control, mobile robots, trajectory tracking, obstacle avoidance).


In this course students will be exposed to the fundamental concepts of motion control systems. The content with some variations include: introduction to system dynamics, electromechanical energy conversion and control, acceleration control for systems with disturbances and variable parameters, design of observers for unknown system inputs (disturbance observer) and behavior of systems with disturbance observer, control of position, force and impedance, bilateral control systems, basics of configuration space control for multibody systems.

Learning Outcome

Identify the fundamental concepts of the motion control systems and the role and the common usage of elements of the motion control systems such as sensors, actuators, supply converters and controllers

Design disturbance observer for single degree of freedom motion control systems

Obtain mathematical model and design controllers for single degree of freedom and multiple degrees of freedom mechanical systems including the position control, force control, impedance control, bilateral control, sliding mode control, acceleration control.
Design and Analyze control of bilateral systems

Think critically, follow innovations and developments in science and technology, demonstrate personal and organizational entrepreneurship and engage in life-long learning in various subjects.
Communicate effectively by oral, written, graphical and technological means and have competency in English.
Take individual and team responsibility, function effectively and respectively as an individual and a member or a leader of a team.
Identify, formulate, and solve engineering problem using using technics and skills such as MATLAB, Basic Statistics, Solidworks softwares
Modeling and analysis of Motion Control Systems, Identification of convenient control algorithm, and Implementation of Control Algorithms to different engineering systems such as electrical, mechanical or heat transfer systems
Understand different disciplines from natural sciences to mathematics and develop interdisciplinary approaches in thinking and practice.

Programme Outcomes
Common Outcomes For All Programs
1 Understand the world, their country, their society, as well as themselves and have awareness of ethical problems, social rights, values and responsibility to the self and to others. 1
2 Understand different disciplines from natural and social sciences to mathematics and art, and develop interdisciplinary approaches in thinking and practice. 4
3 Think critically, follow innovations and developments in science and technology, demonstrate personal and organizational entrepreneurship and engage in life-long learning in various subjects. 4
4 Communicate effectively in Turkish and English by oral, written, graphical and technological means. 4
5 Take individual and team responsibility, function effectively and respectively as an individual and a member or a leader of a team; and have the skills to work effectively in multi-disciplinary teams. 5
Common Outcomes ForFaculty of Eng. & Natural Sci.
1 Possess sufficient knowledge of mathematics, science and program-specific engineering topics; use theoretical and applied knowledge of these areas in complex engineering problems. 5
2 Identify, define, formulate and solve complex engineering problems; choose and apply suitable analysis and modeling methods for this purpose. 5
3 Develop, choose and use modern techniques and tools that are needed for analysis and solution of complex problems faced in engineering applications; possess knowledge of standards used in engineering applications; use information technologies effectively. 5
4 Ability to design a complex system, process, instrument or a product under realistic constraints and conditions, with the goal of fulfilling specified needs; apply modern design techniques for this purpose. 3
5 Design and conduct experiments, collect data, analyze and interpret the results to investigate complex engineering problems or program-specific research areas. 4
6 Knowledge of business practices such as project management, risk management and change management; awareness on innovation; knowledge of sustainable development. 2
7 Knowledge of impact of engineering solutions in a global, economic, environmental, health and societal context; knowledge of contemporary issues; awareness on legal outcomes of engineering solutions; understanding of professional and ethical responsibility. 3
Mechatronics Engineering Program Outcomes Core Electives
1 Familiarity with concepts in statistics and optimization, knowledge in basic differential and integral calculus, linear algebra, differential equations, complex variables, multi-variable calculus, as well as physics and computer science, and ability to use this knowledge in modeling, design and analysis of complex dynamical systems containing hardware and software components. 5
2 Ability to work in design, implementation and integration of engineering applications, such as electronic, mechanical, electromechanical, control and computer systems that contain software and hardware components, including sensors, actuators and controllers. 5
Materials Science and Nano Engineering Program Outcomes Area Electives
1 Applying fundamental and advanced knowledge of natural sciences as well as engineering principles to develop and design new materials and establish the relation between internal structure and physical properties using experimental, computational and theoretical tools. 3
2 Merging the existing knowledge on physical properties, design limits and fabrication methods in materials selection for a particular application or to resolve material performance related problems. 2
3 Predicting and understanding the behavior of a material under use in a specific environment knowing the internal structure or vice versa. 1
Assessment Methods and Criteria
  Percentage (%)
Final 20
Midterm 20
Assignment 10
Participation 10
Group Project 20
Other 20
Recommended or Required Reading

Asif Sabanovic and Kouhei Ohnishi, Motion Control Systems, IEEE Press, John Willey & Sons (Asia) Pte Ltd, 2011, ISBN 978-0-470-82573-0


Ned Mohan, Electric Drives An Integrative Approach, MNPRE Minneapolis, 2003, ISBN 0-9715292-5-6
V.I. Utkin, J. Guldner and J. Shi: Sliding Mode Control in Electromechanical Systems, Taylor and Francis, 1999
W. Leonhard: Control of Electrical Drives, Springer Verlag, 1985