OVERVIEW

The course deals with the analysis and synthesis methodologies of control systems for mechatronic systems. In particular, SISO (single input - single output) methods for linear and time invariant systems (LTI) are developed in the frequency domain. The course aims to provide a brief overview of control approaches for multivariable linear dynamic systems as well as linearization for nonlinear systems.

AIMS AND CONTENT

LEARNING OUTCOMES

Acquire the knowhow for the analysis, synthesis, and implementation of control solutions for plants of interest in the area of mechanical engineering.

AIMS AND LEARNING OUTCOMES

Knowledge and understanding issues: Provide adequate knowledge in order to understand the role of control systems for linear time invariant SISO (single input - single output) systems. In particular, the expected learning outcomes refer to the understanding of the open and closed loop control architectures. Central are the concepts of stability of SISO dynamic systems, robustness to model uncertainties and exogenous disturbances.

With reference to the ability to apply knowledge and understanding, at the end of the course the student will have to know how to:

Model simple dynamic systems, deducing their representation in terms of interconnection of transfer functions.

Carry out frequency analysis of transfer functions.

Evaluate the behavioral properties of an assigned control system (reduction / cancellation of steady state errors in response to polynomial and sinusoidal signals, evaluation of dynamic behaviors, dominant poles, pass bands, etc.)

Evaluate the compatibility of the assigned control specifications with the characteristics of the given system. In case of incompatibility, knowing how to reformulate new specifications compatible with the system and the assigned boundary conditions.

Synthesize a regulator for a given system, capable of meeting the specifications of dynamic and steady-state behavior.

Judgment autonomy, communication skills: Judgment autonomy must be demonstrated by demonstrating understanding  of the concepts and methods described in the course.

Learning skills: The learning ability will be measured (qualitatively) during lessons, receptions, and exercises that will be based on the maximum possible active participation. The final learning ability will be assessed globally and quantitatively during the exam.

PREREQUISITES

Knowledge of general concepts and methodological tools of functional analysis and linear algebra.

TEACHING METHODS

• Frontal lectures (theory and exercises developed on the blackboard);
• Availability of course lecture notes;
• Class exercises;
• Illustration of the use of existing SW tools for the analysis and synthesis of control systems.

SYLLABUS/CONTENT

Part 1: Introduction to the main issues of Automatic Controls, general concepts related to open and closed loop control schemes. Introduction to the concept of robustness to exogenous disturbances and parametric uncertainties. Practical examples of plant modeling and their control architectures; necessary plant conditions for its eligibility for closed loop control.

Part 2: Introduction to minimal and non-minimal phase systems including finite delay systems. Introduction to linear models in the state space. Introduction to the linearization of nonlinear continuous time dynamic models.

Part 3: Analysis methods of closed loop stability: Nyquist method, phase margin and gain method.

Part 4: Analysis of the performance, both in the time and frequency domain, of the closed loop control in steady and transient conditions.

Part 5: Synthesis of regulators: specifications of a control system; general synthesis methods for minimal phase plants; phase lag, phase lead, and proportional, integral and derivative (PID) regulators; general synthesis methods for non-minimal phase plants.

Part 6: Introduction to the discretization of controllers synthesized in continuous time for their digital implementation.

RECOMMENDED READING/BIBLIOGRAPHY

Course notes will be made available by instructors and are to be considered the main course material. As for additional references on specific topics, candidates should consider the following: 

• G. Marrro: “Controlli Automatici”, Zanichelli, 1997
• P. Bolzern, R. Scattolini, N. Schiavoni: “Fondamenti di Controlli Automatici”, McGraw Hill, 1998

TEACHERS AND EXAM BOARD

Exam Board

GIOVANNI INDIVERI (President)

GIUSEPPE CASALINO

ENRICO SIMETTI (President Substitute)

LESSONS

Class schedule

The timetable for this course is available here: Portale EasyAcademy

EXAMS

EXAM DESCRIPTION

Oral colloquium.

ASSESSMENT METHODS

The exam colloquium will focus on the course program resulting from the lesson diary. Control system analysis and synthesis exercises will be covered during the oral colloquium.

Exam schedule