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CONTROL OF LINEAR MULTI-VARIABLE SYS.

CODE 80181 2021/2022 5 cfu during the 1st year of 10635 ROBOTICS ENGINEERING (LM-32) - GENOVA ING-INF/04 English GENOVA 1° Semester AULAWEB

OVERVIEW

The aim of the course is to present the basic concepts and methods for the design of controllers for  multivariable linear time invariant systems (MIMO LTI systems). The models used in the course are mainly those based on state-space equations. Both continuous and discrete time systems will be considered. The performances of the controlled systems will be analyzed also by means of software tools.

AIMS AND CONTENT

LEARNING OUTCOMES

The obejctive of the course is that of presenting the basic methodologies for the control of linear (time-invariant) multivariable systems. The course will start with a review of the basic concepts relevant to linear stystems, in continuous time and in discrete time. Then, optimal control methods (in continuous time and in discrete time) will be presented, along with a brief survey about predictive control approaches. The course will end with the treatment of some specific topics concerning linear multivariable control, as closed-loop pole assignment and feedback control based on state observers.

AIMS AND LEARNING OUTCOMES

At the end of the course, the students will be able to:

a) Build and analyze linear time-invariant multivariable system models.

b) Build optimal regulators for linear time-invariant multivariable systems, considering both continuous- and discrete-time representations.

c) Design regulators capable of ensuring a certain closed-loop dynamics, even in the case in wich the state of the system is not fully accessible.

PREREQUISITES

Fundamentals of Linear System Theory and Classical Control Theory.

TEACHING METHODS

Lessons and computer exercises.

SYLLABUS/CONTENT

1-Basics on modeling and analysis of Linear Multivariable Systems (continuous-time)

2-Basics on modeling and analysis of Linear Multivariable Systems (discrete-time)

3-Optimal control problems for linear time-invariant systems.

4-Predictive control schemes.

5-Pole assignment and state observers.

6-Formulation of feedback control problems. Alternative approaches for control system synthesis.

H. Kwakernaak, R. Sivan - Linear Optimal Control Systems - Wiley 1972

TEACHERS AND EXAM BOARD

Exam Board

RICCARDO MINCIARDI (President)

MICHELE AICARDI

GIUSEPPE CASALINO (President Substitute)

LESSONS

Class schedule

All class schedules are posted on the EasyAcademy portal.

EXAMS

Oral exam.

ASSESSMENT METHODS

The students will be evaluated on the basis of their capability to solve simple analysis and control problems.

Exam schedule

Date Time Location Type Notes
19/01/2022 09:00 GENOVA Orale
03/02/2022 09:00 GENOVA Orale
29/06/2022 09:00 GENOVA Orale
15/07/2022 09:00 GENOVA Orale
31/08/2022 09:00 GENOVA Orale