OVERVIEW

The aim of the course is to present the basic concepts and methods for the analysis and design of controllers for multivariable linear time invariant systems (MIMO LTI systems) of interest within robotics applications. The models used in the course are mainly those based on state-space equations. Basic robot control allocation problems will be illustrated as well as motion control ones.

AIMS AND CONTENT

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 for linear multivariable time invariant dynamic systems.

RECOMMENDED READING/BIBLIOGRAPHY

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

TEACHERS AND EXAM BOARD

Exam Board

GIOVANNI INDIVERI (President)

MICHELE AICARDI

GIORGIO CANNATA

ENRICO SIMETTI (President Substitute)

LESSONS

LESSONS START

Please refer to the official calendar of lessons of the Robotics Engineering Masters portal.

Class schedule

The timetable for this course is available here: Portale EasyAcademy

EXAMS

EXAM DESCRIPTION

Oral exam. 
Students with learning disorders ("disturbi specifici di apprendimento", DSA) will be allowed to use specific modalities and supports that will be determined on a case-by-case basis in agreement with the delegate of the Engineering courses in the Committee for the Inclusion of Students with Disabilities.

ASSESSMENT METHODS

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

Exam schedule