|CREDITS||5 credits during the 1st year of 10635 ROBOTICS ENGINEERING (LM-32) GENOVA|
|SCIENTIFIC DISCIPLINARY SECTOR||ING-INF/04|
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.
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.
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.
Fundamentals of Linear System Theory and Classical Control Theory.
Lessons and computer exercises.
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
Office hours: It is possible to meet the professor, on request, at different times.
Office hours: - 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.
RICCARDO MINCIARDI (President)
GIUSEPPE CASALINO (President Substitute)
All class schedules are posted on the EasyAcademy portal.
The students will be evaluated on the basis of their capability to solve simple analysis and control problems.