LEARNING OUTCOMES

The obejctive of the course is that of presenting the basic methodologies for the analysis and control of linear (time-invariant) multivariable systems. The course will start with a review of the basic concepts relevant to linear stystems, in continuous and discrete time. Stability and structural properties of linear multivariable dynamic systems will be addressed. Matrix pseudo inversion methods will be discussed with reference to robot inverse kinematics and control allocation problems. 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) Solve basic control allocation problems building on matrix pseudo inverse  methods. 

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 and discrete);

2) Stability and structural properties of linear multivariable dynamic systems;

3) Matrix pseudo inversion methods for control allocation, inverse kinematics and motion control within robotics applications; 

4) Pole assignment and state observers.
 

RECOMMENDED READING/BIBLIOGRAPHY

Papers and notes distributed by the lecturer;
H. Kwakernaak, R. Sivan - Linear Optimal Control Systems - Wiley 1972