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BL40A2820 Motion Control and System Identification, 5 cr 
Code BL40A2820  Validity 01.08.2018 -
Name Motion Control and System Identification  Abbreviation Motion Control 
Credits5 cr   
TypeBasic studies  
  Grading scaleStudy modules 0-5,P/F 
  Eligibility for post-graduate studiesYes
    Allowed to study several timesno
Organisation LUT School of Energy Systems 

Tuomo Lindh 
Niko Nevaranta 

Description by Study Guide
Note  Location: Lappeenranta 
Year  M.Sc. (Tech.) 2 
Period  3-4 
Teaching Language  English 
Teacher(s) in Charge 

Associate professor, D.Sc. (Tech.) Tuomo Lindh

Post Doctoral Researcher D.Sc. (tech.) Niko Nevaranta


Upon completion of the course a student will be able to:
1. apply automation and digital control theory to control of mechatronic systems,
2. apply dynamics in order to model motor driven mechanics ,
3. simulate mechatronic systems and related controlled motor drives,
4. use PLC technology and fieldbuses in mechatronics,
5. use PLCOpen motion control libraries.
6. In addition, the student construct programs for trajectory tracking and controllers for position control,
7. construct observers and understand the principles of self-tuning controllers,
8. construct dynamical system models based on tests and measurements, (select model structure and use system identification methods.

9. Construct a real-time system for gathering identification and parameter estimation data.
10. Work in a group solving motion control problems.


Basics of dynamics related to rigid and flexible servo axis models, transfer function and state-space models of servo axes, lumped models, interconnections of mechanics models, Co-simulation of electric drives and mechanics, Motion control and controllers. System identification (linear model structures: AR, ARMA, ARX,ARMAX, Box-Jenkins, OE) and parameter estimation. Excitation signals and their implementations in discrete real time. (Basics of recursive identification and self tuning controllers.)

Teaching Methods 

21 hours of blended learning sessions,4-7 small biweekly assignments 3rd and 4th period. , Main assignment 4th period. Moodle examination.
Total workload 130 h.

Suitability for doctoral studies (Yes/Leave empty)  Yes 
Doctoral School course where enrollment is in WebOodi (Yes/Leave empty)  Yes 
Examination in Examination schedule (Yes/No)  No 
Examination in Moodle (Yes/No)  Yes 
Examination in Exam (Yes/No)  No 
Assessment scale and assessment methods 

0-5. Moodle examination (30%), Small assignments (35%), Main assignment (35 %) .

Course Materials 

Lecture material in Moodle.
Additionally, the following books to the appropriate extent:
Ioan D. Landau and Gianluca Zito, Digital Control Systems, Design, Identification and Implementation.
Bobal, V., Digital Self-tuning Controllers: Algorithms, Implementation and Applications.


Basics of digital control and automation.

Places for exchange-students? (Yes, number/No)  No 
Places for Open University Students?(Yes, number/No)  No 

Current and upcoming courses
Functions Name Type cr Teacher Timing
  Motion Control and System Identification  COURSE  Tuomo Lindh,
Niko Nevaranta 
07.01.20 -17.04.20 -

Upcoming exams
No exams