CODE 80181 ACADEMIC YEAR 2021/2022 CREDITS 5 cfu anno 1 ROBOTICS ENGINEERING 10635 (LM-32) - GENOVA SCIENTIFIC DISCIPLINARY SECTOR ING-INF/04 LANGUAGE English TEACHING LOCATION GENOVA SEMESTER 1° Semester TEACHING MATERIALS 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. RECOMMENDED READING/BIBLIOGRAPHY H. Kwakernaak, R. Sivan - Linear Optimal Control Systems - Wiley 1972 TEACHERS AND EXAM BOARD RICCARDO MINCIARDI Ricevimento: It is possible to meet the professor, on request, at different times. GIUSEPPE CASALINO Ricevimento: - At the end of any lesson (remote and/or in presence) - Via specific successive appointments organized on requests from individual or group of students, at the end of each lesson, or via normal mail, or even via WA messages (in case of remote lessons, also via mails on the TEAM platform). However, establishing possible successive appointements at the end of each lesson, is the highly preferrred form. Exam Board RICCARDO MINCIARDI (President) MICHELE AICARDI GIUSEPPE CASALINO (President Substitute) LESSONS LESSONS START https://corsi.unige.it/10635/p/studenti-orario Class schedule The timetable for this course is available here: Portale EasyAcademy EXAMS EXAM DESCRIPTION Oral exam. ASSESSMENT METHODS The students will be evaluated on the basis of their capability to solve simple analysis and control problems. Exam schedule Data appello Orario Luogo Degree type Note 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
