Motion Control Systems (ME 304)

2022 Spring
Faculty of Engineering and Natural Sciences
Meltem Elita┼č,
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Formal lecture,Interactive lecture,Recitation,Laboratory
Interactive,Learner centered,Communicative,Discussion based learning,Project based learning,Simulation
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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.


  • 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.


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; have the ability to continue to educate him/herself. 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

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. Have the 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. Possess knowledge of business practices such as project management, risk management and change management; awareness on innovation; knowledge of sustainable development. 2

7. Possess 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; knowledge of behavior according to ethical principles, understanding of professional and ethical responsibility. 3

8. Have the ability to write effective reports and comprehend written reports, prepare design and production reports, make effective presentations, and give and receive clear and intelligible instructions.

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

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


  Percentage (%)
Final 20
Midterm 20
Assignment 10
Participation 10
Group Project 20
Other 20



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