Fundamentals of Mechatronics

Course Description

Synergistic integration of technical mechanics, electronics, computer engineering and information technology. Demands on mechatronics components. Modeling of mechanical components for mechatronic applications, kinematics and dynamics equations of motion. Block structure of the microcomputer control unit with process I/O interface. Data acquisition, conversion and exchange between process and control unit. Translational and rotational electromechanical systems integration as an example of mechatronic system design. CAD tools application for modeling, control algorithms synthesis, simulation and real time control.

General Competencies

Development of systems thinking in mechatronic product design. Ability of a mechatronic system integration based on components knowledge.

Learning Outcomes

  1. define mechatronic system.
  2. explain holonomic and non-holonomic constraints in mechanical systems
  3. apply Lagrange formalism to mechanical system modeling.
  4. apply the bond graph method for modeling of mechatronic systems.
  5. explain the criteria for selection of the components in mechatronic systems
  6. apply PID control algorithm to the electromechanical system.

Forms of Teaching


Lectures are organized in two cycles. The first cycle consists of 7 two-hours lectures while the second cycle consists of 6 two-hours lectures.


Examination process consists of midterm exams and final exam.

Laboratory Work

Laboratory work consists of 5 individual exams (2 simulation exams and 3 experimental exams).

Grading Method

Continuous Assessment Exam
Type Threshold Percent of Grade Threshold Percent of Grade
Laboratory Exercises 50 % 30 % 50 % 30 %
Mid Term Exam: Written 30 % 35 % 0 %
Final Exam: Written 30 % 35 %
Exam: Written 50 % 40 %
Exam: Oral 30 %

Week by Week Schedule

  1. Definition of mechatronics. Principles of synergistic integration of technical mechanics, electronics, computer engineering and information technology. Examples of mechatronic systems.
  2. Osnovni pojmovi mehanike krutih tijela. Modeliranje mehaničkih sustava primjenom Newtonovih zakona.
  3. Conservation laws (momentum, angular momentum and energy) and their application in modeling of mechanical systems.
  4. Analytical mechanics. Holonomic and nonholonomic constraints in mechanical systems. Lagrange equation.
  5. Bond graphs and their applications in modeling of mechatronic systems.
  6. Actuators in mechatronic systems. Selection criteria for actuators in mechatronic systems.
  7. Modern actuators in mechatronic systems. Brushless DC motors with rectangular and sine-wave currents.
  8. Mid-term exam
  9. The role of the gears in mechatronic systems. The main characteristics of the gears and the criteria for their selectio
  10. The role of sensors in mechatronic systems. Basic characteristics of the sensor (static and dynamic).
  11. Sensors of mechanical quantities. Position sensors. Speed ​​sensor. Acceleration sensors. Force and torque sensors.
  12. I / O interface and signal conditioning (protection, changes in types of signals, changes in signal level, eliminating or reducing the impact of noise).
  13. Control in mechatronic systems.
  14. An example of mechatronic systems with elastic transmission. Modeling the mechanical part of the system. Synthesis of control algorithms.
  15. Final exam

Study Programmes

University undergraduate
Control Engineering and Automation (module)
Elective Courses (6. semester)
Electrical Power Engineering (module)
Elective Courses (6. semester)


L.J.Kamm (1996.), Understanding electro-mechanical engineering, an introduction to mechatronics, IEEE Press
S.E.Lishevski (1999.), Electromechanical systems, electric machines and applied mechatronics, CRC Press
(.), Osnove Mehatronike (predavanja) F.Kolonić ZESA-FER 2001,
(.), Einfuerung in die Mechatronik W. Roddeck Teubner, Stutgart 1,

Laboratory exercises

For students


ID 34343
  Summer semester
L1 English Level
L1 e-Learning
30 Lectures
15 Laboratory exercises

Grading System

87.5 Excellent
75 Very Good
62.5 Good
50 Acceptable