CFU: 9
Prerequisites
Basic knowledge of analysis of continuous-time and discrete-time linear dynamical systems. Use of Laplace, Zeta, and Fourier transforms. Software tools for analysis and simulation of dynamical systems.
Preliminary Courses
Metodi matematici per l’ingegneria, Teoria dei sistemi.
Learning Goals
The course aims to introduce students to the design of feedback control laws for dynamical systems and illustrate their possible applications. In particular, the main methodologies for the synthesis of linear control systems, both analog and digital, are explored. At the completion of the course the student will be able to design linear controllers, also with the help of software tools for the analysis, design, and simulation of control systems.
Expected Learning Outcomes
Knowledge and understanding
The course provides the methodological tools to understand the fundamental principles of automatic control and the effects of feedback on the dynamic characteristics of linear or linearized systems. The main methodologies of feedback control design will be introduced, both for analog and digital control, in the time domain and in the transformed domains. This knowledge will allow students to understand the main problems related to the use of different synthesis methods, depending on the requirements and characteristics of the processes to be controlled.
Applying knowledge and understanding
The acquired knowledge will enable students to formalize the specifications of a control system in the time domain and in the transformed domains. Based on these specifications and on the characteristics of the process to be controlled, students will be able to make design choices, and to design the control law using different synthesis methods. Matlab/Simulink software will be used to support controller synthesis and for performance verification.
Course Content - Syllabus
- Fundamental properties of feedback control systems: specifications of a control system in the time domain.
- Reachability and controllability in continuous time and discrete time. Control to an equilibrium state with state feedback. Output control with assignment of eigenvalues and gain.
- Hints on analog and digital realization of a control system. Sampled data systemsd. Output feedback control with integral action and state feedback in continuous time and discrete time.
- Observability in continuous and discrete time. State observer. Eigenvalues separation and output feedback control.
- Analysis of output feedback control systems: steady-state accuracy and type of a system, transient response.
- Closed-loop analysis using the root locus method. Design of control systems with root locus in continuous time and discrete time. Typical control structures. Control of unstable plants.
- Frequency domain analysis of continuous-time systems: stability and robustness using the Nyquist criterion. Stability margins.
- Sensitivity functions. Links between time domain response, open-loop harmonic response function and sensitivity functions.
- Design of control systems in the frequency domain using the loop shaping method. Lead–lag compensators.
- Design of digital controllers by discretization. Design in the discrete-time domain with the model assignment method.
- Realization problems of digital controllers: discrete-time control algorithms, anti-aliasing filtering, choice of the sampling time.
- PID regulators: analysis of the performance in the frequency domain and hints on experimental methods for parameters tuning.
- Advanced control systems: Smith predictor, cascade control, mixed control schemes with feedback and feedforward.
Readings/Bibliography
- Celentano, L. Celentano, Elementi di Controlli Automatici, vol. III, Edises, 2015
- Bolzern, R. Scattolini, N. Schiavoni, Fondamenti di Controlli Automatici, McGraw-Hill, 4/ed, 2015
- Notes and video recording of the lectures.
Teaching Methods
Teaching will be organized as follows: a) theoretical lectures for 70% of the total hours, b) classroom exercises also using MATLAB/SIMULINK software tool (https://www.mathworks.com/), for about 30% of the total hours.
Examination/Evaluation criteria
Exam type
Written and oral. Questions of the written exam refer to numerical exercises.