This course provides methodological tools for solving control problems for dynamical systems according to input-output and input-state-output representations. Concerning nonlinear systems, the course introduces feedback linearization. All the presented concepts are illustrated through examples taken from control of floating off-shore platform, floating offshore wind turbine, marine and submarine robotic systems.
teacher profile teaching materials
Closed loop systems: examples, structure and main properties. System types and steady state error. Disturbance rejection: constant and sinusoidal signals. Specifications; steady-state and transient; frequency domain characterisation. Loop shaping in frequency domain: choice of the elementary functions. Loop shaping in time domain: controllable and observable system; rank test; eigenvalue assignment via state feedback; observability and observer design. PID
Examples of control systems applied to off-shore platforms. Controller design and system simulation via MATLAB/Control System Toolbox e Simulink.
Programme
Continuous-time linear dynamical systems. Input-output and input-state-output realisations. Natural response: state transition matrix, natural modes. Asymptotic stability. Forced response: impulse response, transfer function. Relation between poles and eigenvalues. Transient and Steady state response. Frequency response. Feedback systems.Closed loop systems: examples, structure and main properties. System types and steady state error. Disturbance rejection: constant and sinusoidal signals. Specifications; steady-state and transient; frequency domain characterisation. Loop shaping in frequency domain: choice of the elementary functions. Loop shaping in time domain: controllable and observable system; rank test; eigenvalue assignment via state feedback; observability and observer design. PID
Examples of control systems applied to off-shore platforms. Controller design and system simulation via MATLAB/Control System Toolbox e Simulink.
Core Documentation
J.C. Doyle, B.A. Francis, A.R.Tannenbaum: "Feedback Control Theory", Maxwell MacMillan.Reference Bibliography
G.F. Franklin, J.D. Powell, A. Emami-Naeini: "Feedback Control of Dynamic Dystems", Addison-Wesley. B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo," Robotics,Robotics. Modeling, Planning and Control", Springer.Attendance
not applicableType of evaluation
Mid term test and final project or oral exams and final project