[en] The dynamic behavior of a mechatronic system may be largely dependent on the mechanical configuration. This inevitably affects the performance and the stability of any controller designed using the classical linear control theory. Major improvements are expected if the controller is designed using the theory of linear parameter varying systems, but one difficulty is then to provide a low-order model which captures the configuration-dependent dynamics. This paper presents a methodology to build such a model in two steps: for several representative configurations, a local linear model is derived, the parameter- dependent model is constructed by interpolation in the configuration space. Moreover, a co-simulation methodology is proposed for mechatronic systems by combining LMS Virtual.Lab Motion and Matlab/Simulink. The methodology is applied to an industrial pick-and-place machine.
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