Dynamics and Control Course | Prof. Ashitava Ghosal | IISc & Ahmedabad University

Course Details

Mastering Motion: A Deep Dive into Dynamics and Control of Mechanical Systems

In the world of advanced engineering, from robotics and aerospace to automotive design, the precise prediction and command of motion are paramount. The Dynamics and Control of Mechanical Systems is a cornerstone course that bridges the gap between theoretical mechanics and real-world, computer-controlled applications. This intensive 12-week program, designed and taught by a leading authority in the field, provides a rigorous foundation for understanding and manipulating the behavior of complex mechanical systems.

About the Course Instructor: Prof. Ashitava Ghosal

This course is led by Prof. Ashitava Ghosal, a distinguished academic and researcher. Currently a Professor at the School of Engineering and Applied Science, Ahmedabad University, he recently held the prestigious Satish Dhawan Chair Professorship at the Indian Institute of Science (IISc), Bangalore.

Prof. Ghosal's credentials are exemplary:

• Education: Ph.D. from Stanford University, M.S. from the University of Florida, and B.Tech from IIT Kanpur.
• Research Expertise: Robotics, dynamics and control, and product design.
• Authoritative Text: He is the author of the widely adopted textbook "Robotics: Fundamental Concepts and Analysis" (Oxford University Press, 2006).
• Prolific Contributor: With 5 patents, over 83 journal papers, 100+ conference papers, and guidance for 17 PhDs, his impact on the field is substantial.
• Professional Recognition: A Fellow of the Indian National Academy of Engineering (INAE) and former member of the IFToMM Executive Committee.

Who Should Take This Course?

This course is meticulously designed for:

• First-year Master’s and PhD students in Mechanical Engineering, Aerospace, Robotics, and related fields.
• Final-year Undergraduate students seeking a challenging and comprehensive elective.
• Professionals in industries like automotive, robotics, and defense looking to solidify their theoretical foundations in system dynamics and modern control.

Course Prerequisites

To succeed, participants should have a solid grasp of:

• Undergraduate-level Physics and Engineering Mechanics (Dynamics).
• Mathematics, particularly linear algebra and matrices.
• Basic programming knowledge (MATLAB experience is beneficial).

What You Will Learn: Course Breakdown

The 12-week journey is structured to build from fundamental concepts to advanced applications, with a strong emphasis on computational tools.

Weeks 1-4: Foundations of 3D Rigid Body Dynamics

The course begins with the mathematical language of motion. You will master the representation of position and orientation using rotation matrices, Euler angles, and quaternions. Weeks 2 and 3 delve into the kinematics of connected systems—calculating velocities and accelerations in multi-body systems and understanding constraints. Week 4 introduces the dynamics of mass and inertia, external forces, and key concepts like angular momentum, illustrated with examples like gyroscopes.

Weeks 5-7: Formulating and Solving Equations of Motion

Here, theory meets practice. You will learn to derive equations of motion using both the Newton-Euler and Lagrangian formulations, comparing their applications. The course then transitions to the computational arena, teaching you to solve these equations in MATLAB and model complex systems using multi-body simulation tools like Simscape.

Weeks 8-12: From Dynamics to Modern Control

The second half focuses on control. Starting with the linearization of dynamic equations, you'll move into state-space modeling—a powerful modern approach for Single-Input-Single-Output (SISO) systems. Core control concepts of stability, controllability, and observability are covered in depth. The course elegantly connects modern state-space methods with classical control techniques like Root Locus and Bode plots. The finale involves designing controllers and applying everything learned to compelling case studies like robotic arms and pendulum-cart systems.

Industry Relevance & Support

This course's curriculum is highly valued by leading industries and organizations, including:

Recommended Textbooks

• Primary: Ghosal, A. Robotics: Fundamental Concepts and Analysis. Oxford University Press, 2006.
• Dynamics Reference: Meriam, J.L., & Kraige, L.G. Engineering Mechanics: Dynamics. Wiley, 7th Edition.
• Control Reference: Franklin, G.F., Powell, J.D., & Emami-Naeini, A. Feedback Control of Dynamic Systems. Pearson, 5th Edition.

Conclusion: The "Dynamics and Control of Mechanical Systems" course is more than just a class; it's a comprehensive toolkit for any engineer aiming to design, analyze, and control the mechanical systems of tomorrow. Under the guidance of Prof. Ashitava Ghosal, students gain not only theoretical knowledge but also the practical computational skills demanded by top-tier industries and research institutions today.

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