Course detail

Modeling and Simulation I

FSI-RDO-A Acad. year: 2025/2026 Winter semester

This module deals with modelling of dynamic system on computer. Systems are described by ordinary differential equations, differential-algebraic equations or e.g. by state automata. MATLAB and Simulink are used as main tools including their advanced functions and features. Theoretical findings are demonstrated on real educational models controlled from Simulink using I/O card MF624.

Language of instruction

English

Number of ECTS credits

6

Supervisor

doc. Ing. Robert Grepl, Ph.D.

Department

Institute of Solid Mechanics, Mechatronics and Biomechanics

Entry knowledge

Vectors and matrixes. ODEs. Mathematics and physics in the scope of previous study. Basic knowledge of programming in MATLAB.

Rules for evaluation and completion of the course

The course grade is based on a standard 0-100 point scale. The evaluation includes one test and a semester project. Participation in the exercises is compulsory. Attendance and activity in the exercises are monitored in accordance with the assessment criteria set for the exercises.

Aims

Students will learn about modelling dynamic systems (mechanical, electromechanical and controlled) on a computer. During the course they will acquire knowledge and skills in the following areas:

  • Linear dynamical systems and their analysis
  • Modeling in MATLAB/Simulink environment
  • Modeling of controlled systems
  • Hands-on experience in controlling a real system using an I/O card from MATLAB/Simulink

This course combines theoretical knowledge with practical use in engineering applications.

The study programmes with the given course

Programme B-STI-Z: Fundamentals of Mechanical Engineering, Bachelor's, recommended course

Type of course unit

 

Lecture

26 hours, optionally

Syllabus


  1. Direct and inverse kinematics (fkine, ikine)

  2. Denavit-Hartenberg (DH) parameters

  3. Robotic Toolbox and UR5 robot

  4. Practical task on fkine/ikine

  5. Quaternions

  6. Kinematics and dynamics of wheeled vehicles

  7. Dynamics and kinematics of mechanisms (repeat of LR2)

  8. SimScape (repeat)

  9. SimScape Multibody

  10. Solving n equations with m unknowns, ordinary least squares (OLS)

  11. Systems Identification I.

  12. Identification of systems II.

  13. Feedforward control

Laboratory exercise

13 hours, compulsory

Syllabus

7.-12. Experimental work – control of real system from PC
13. Presentation of semestral project, assignment.

Computer-assisted exercise

13 hours, compulsory

Syllabus


  1. Direct and inverse kinematics (fkine, ikine)

  2. Denavit-Hartenberg (DH) parameters

  3. Robotic Toolbox and UR5 robot

  4. Practical task on fkine/ikine

  5. Quaternions

  6. Kinematics and dynamics of wheeled vehicles

  7. Dynamics and kinematics of mechanisms (repeat of LR2)

  8. SimScape (repeat)

  9. SimScape Multibody

  10. Solving n equations with m unknowns, ordinary least squares (OLS)

  11. Systems Identification I.

  12. Identification of systems II.

  13. Feedforward control