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CONTROL OF LINEAR MULTI-VARIABLE SYS.

CODE 80181
ACADEMIC YEAR 2021/2022
CREDITS
  • 5 cfu during the 1st year of 10635 ROBOTICS ENGINEERING (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

    Exam Board

    RICCARDO MINCIARDI (President)

    MICHELE AICARDI

    GIUSEPPE CASALINO (President Substitute)

    LESSONS

    Class schedule

    All class schedules are posted on the EasyAcademy portal.

    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

    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