Fundamentals of Mechatronics

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 through 13 weeks with a weekly load of 3 lectures


Laboratory exams are organized through 6 weeks (3 hours per week)

Week by Week Schedule

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

Study Programmes

University undergraduate
Computing (study)
Elective Courses (5. semester)
Electrical Engineering and Information Technology (study)
Elective Courses (5. semester)


(.), 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,


ID 183375
  Winter semester
L3 English Level
L1 e-Learning
45 Lectures
0 Exercises
18 Laboratory exercises
0 Project laboratory

Grading System

Very Good