Fundamentals of Mechatronics

  • Class 45
  • Practice 18
  • Independent work 87
Total 150

Course title

Fundamentals of Mechatronics

Lecture type


Course code






Lecturers and associates

Course objectives

Basic properties of a mechatronic system; Integration in mechatronic systems; Examples of mechatronic systems.
Newtonian mechanics.
Holonomic constraints in mechanical systems; Nonholonomic constraints in mechanical systems.
Lagrangian Equation.
Bond graphs; Analogies in mechatronic systems.
Modern software tools in modeling and simulation of mechatronic systems.
Electrical actuators.
Midterm exam.
Electrical actuators; MEMS actuators; Bionic actuators; Shape Memory Alloy (SMA) actuators.
Gears in mechatronic systems.
Optimal selection of actuator/gear pair.
Basic requirements on control systems in mechatronics; PID controller structure and its parametrization.
PID controller structure and its parametrization; Digital implemtation of PID controller.
Digital implemtation of PID controller.
Final exam.

Required reading

(.), Understanding electro-mechanical engineering, an introduction to mechatronics, L.J.Kam, IEEE Press, 1996,
(.), Electromechanical systems, electric machines and applied mechatronics, S.E.Lishevski, CRC Press,
(.), Osnove mehatronike - predavanja, F. Kolonić, J. Matuško, FER, 2015,

Minimal learning outcomes

  • Define mechatronic system
  • Explain holonomic and non-holonomic constraints in mechanical systems
  • Apply Lagrange formalism to mechanical system modeling
  • Apply the bond graph method for modeling of mechatronic systems
  • Explain the criteria for selection of the components in mechatronic systems
  • Apply PID control algorithm to the electromechanical system
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