This course introduces theoretical approaches for the modelling and control of multibody mechanical systems. Special emphasis is given to the use of computer tools for the modelling aspect.

Knowledge and understanding:
Distinguish between the two main branches of Classical Mechanics: vectorial and analytical mechanics;
Abstract real mechanical systems as multibody systems.
Skills and other attributes:
Intellectual skills:
Make confident use of the basic tools of Classical Mechanics;
Develop models, in the form of differential equations, of real mechanical systems using various methods from classical mechanics (Newton's laws and Lagrangian equations of motion);
Derive equations of motion for systems with holonomic and nonholonomic constraints;
Apply elementary techniques from control theory to improve the behaviour of systems represented by multibody models.


Part of the course will involve computer assisted modelling and control of multibody systems with the use of the multibody modelling code Simscape Multibody.

Basic vector calculus; Newtonian mechanics; Holonomic and nonholonomic systems; Control of nonholonomic systems; Kinematics of rigid body motion; Dynamics of rigid body motion; Variational principles and analytical mechanics: Calculus of variations and Lagrange multipliers, Euler-Lagrange differential equations, Virtual work, D'Alembert's principle, Hamilton's principle and Lagrangian equations of motion;
Multibody building software.