Syllabus Application
ME 304
Motion Control Systems
Faculty
Faculty of Engineering and Natural Sciences
Semester
Spring 2025-2026
Course
ME 304 -
Motion Control Systems
Time/Place
Time
Week Day
Place
Date
12:40-13:30
Mon
FENS-G025
Feb 16-May 22, 2026
08:40-10:30
Thu
FENS-L063
Feb 16-May 22, 2026
Level of course
Undergraduate
Course Credits
SU Credit:3, ECTS:6, Engineering:6
Prerequisites
-
Corequisites
ME 304L
Course Type
Lecture
Instructor(s) Information
Meltem Elitaş
- Email: melitas@sabanciuniv.edu
Course Information
Catalog Course Description
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).
Course Learning Outcomes:
| 1. | 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 |
|---|---|
| 2. | Design disturbance observer for single degree of freedom motion control systems |
| 3. | 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. |
| 4. | Design and Analyze control of bilateral systems |
| 5. | Think critically, follow innovations and developments in science and technology, demonstrate personal and organizational entrepreneurship and engage in life-long learning in various subjects. |
| 6. | Communicate effectively by oral, written, graphical and technological means and have competency in English. |
| 7. | Take individual and team responsibility, function effectively and respectively as an individual and a member or a leader of a team. |
| 8. | Identify, formulate, and solve engineering problem using using technics and skills such as MATLAB, Basic Statistics, Solidworks softwares |
| 9. | 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 |
| 10. | Understand different disciplines from natural sciences to mathematics and develop interdisciplinary approaches in thinking and practice. |
Course Objective
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.
Sustainable Development Goals (SDGs) Related to This Course:
| Decent Work and Economic Growth | |
| Industry, Innovation and Infrastructure | |
| Sustainable Cities and Communities |
Course Materials
Resources:
Franklin, Powell & Emami-Naeini – Feedback Control of Dynamic Systems
Ogata – Modern Control Engineering
Nise – Control Systems Engineering
(Optional Advanced)
Slotine & Li – Applied Nonlinear Control
Ogata – Modern Control Engineering
Nise – Control Systems Engineering
(Optional Advanced)
Slotine & Li – Applied Nonlinear Control
Technology Requirements:
MATLAB/Simulink