The course will propose the basic concepts of Automation. It will be developed the ability of analysing simple dynamical systems (stationary and linear) with one input and one output. Along the course will be used representations based on continuous time and frequency with the use of Laplace Transform. Feedback systems will be analysed trying to point out main characteristics. Some techniques will be illustrated to design control loops respecting frequency and time constraints.
Then, it will be illustrated some structural properties of continuous time models and will be introduced concepts like coordinate transformation, modal anaysis, canonical forms, controllability and observability. The course will present control techniques using pole placement approaches, and observers. They will be carried out many practical lessons using MATLAB software that will be used also for designing control systems for the exam
Then, it will be illustrated some structural properties of continuous time models and will be introduced concepts like coordinate transformation, modal anaysis, canonical forms, controllability and observability. The course will present control techniques using pole placement approaches, and observers. They will be carried out many practical lessons using MATLAB software that will be used also for designing control systems for the exam
teacher profile teaching materials
Fondamenti di Automatica, Paolo Bolzern, Riccardo Scattolini, Nicola Schiavoni. McGraw-Hill Education; 4° edizione (19 febbraio 2015)
Programme
STATE SPACE: INPUT-STATE REPRESENTATIONS, INTERCONNECTION OF SYSTEMS, TRANSITION MATRIX, EXPONENTIAL OF A MATRIX, FROM TRANSFER FUNCTION TO STATE SPACE AND VICE-VERSA, COORDINATE TRANSFORMATION, EGINEVALUES, MODAL ANALYSIS, STRUCTURAL PROPERTIES, ASYMPTOTIC OBSERVER, EIGENVALUES ASSIGNEMENT, SEMPARATION PRINCIPLE, OUTPUR REGULATION, OPTIMAL CONTROL.Core Documentation
Automatic Control Systems, Tenth Edition, Farid Golnaraghi, Benjamin C. Kuo, McGraw-Hill Education; 10 edizione (10 marzo 2017)Fondamenti di Automatica, Paolo Bolzern, Riccardo Scattolini, Nicola Schiavoni. McGraw-Hill Education; 4° edizione (19 febbraio 2015)
Reference Bibliography
Alberto Isidori, Nonlinear Control Systems (Communications and Control Engineering): Third EditionType of delivery of the course
Teaching is based on face to face lessons that develop theoretical approaches and practical works also based on simulation software.Attendance
The attendance is not compulsory but is highly recommended. During the lessons many exercises are developed that require the use of coding in Matlab. Such skill is required for the final exam and intermediate tests.Type of evaluation
The student is evaluated through a written test with the use of MATLAB software and an oral exam. teacher profile teaching materials
Permanent regime: type of control systems and steady-state error.
Rejection of k-type disturbances. Sensitivity to parametric variations.
Permanent sinusoidal regime.
Harmonic response and its representations.
The Bode diagram representation.
Nyquist criterion. Presence of integrators.
Stability margins.
The harmonic response of the closed loop: modulus at resonance and bandwidth.
Systems with delay, non-minimum phase systems.
Direct synthesis. Internal stability. Principle of the internal model, Sensitivity to parametric variations, critical band, Reproduction of sinusoidal signals, Effect of random disturbances.
Correcting Networks.
The standard PID controllers.
A. V. Papadopoulos, M. Prandini, Fondamenti di Automatica. Esercizi, Pearson, 2016.
Programme
Stabilization with a gain. Root Locus. Real positive part zeros.Permanent regime: type of control systems and steady-state error.
Rejection of k-type disturbances. Sensitivity to parametric variations.
Permanent sinusoidal regime.
Harmonic response and its representations.
The Bode diagram representation.
Nyquist criterion. Presence of integrators.
Stability margins.
The harmonic response of the closed loop: modulus at resonance and bandwidth.
Systems with delay, non-minimum phase systems.
Direct synthesis. Internal stability. Principle of the internal model, Sensitivity to parametric variations, critical band, Reproduction of sinusoidal signals, Effect of random disturbances.
Correcting Networks.
The standard PID controllers.
Core Documentation
G. Marro, Controlli Automatici, Zanichelli, 2004.A. V. Papadopoulos, M. Prandini, Fondamenti di Automatica. Esercizi, Pearson, 2016.
Reference Bibliography
G. Marro, Controlli Automatici, Zanichelli, 2004. A. V. Papadopoulos, M. Prandini, Fondamenti di Automatica. Esercizi, Pearson, 2016.Type of delivery of the course
The agenda of the course includes both traditional lectures and classroom exercises on problems of modeling, analysis and control of dynamic systems. The teaching material provided by the teacher includes exercises on the software Matlab. The exercises in Matlab are carried out in the classroom and sources are provided to students.Attendance
Although not mandatory, attendance is strongly recommended in consideration of the strong link existing between the theoretical part of the subject matter and the applications.Type of evaluation
Written, oral exam and exam during the course.