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CODE 80181
ACADEMIC YEAR 2023/2024
CREDITS
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 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

L'orario di tutti gli insegnamenti è consultabile all'indirizzo 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

Data Ora Luogo Degree type Note
18/01/2024 10:00 GENOVA Orale Dear All, this is addressed to the students currently enrolled for the exam of CONTROL OF LINEAR MULTI-VARIABLE SYS. on January 18th, 2024. Due to an overlapping work appointment the exams will not start at 10.00 as previously scheduled, but at 14:30 in room E2 (Padiglione E, via all’Opera Pia, 13 ground floor). A second reminder will be sent by email in the next few days, but I kindly ask you to take note already and to inform possibly interested parties. Thank you for your attention, Giovanni Indiveri
06/02/2024 10:00 GENOVA Orale Dear All, this is addressed to the students currently enrolled for the exam of CONTROL OF LINEAR MULTI-VARIABLE SYS. on January 18th, 2024. Due to an overlapping work appointment the exams will not start at 10.00 as previously scheduled, but at 14:30 in room E2 (Padiglione E, via all’Opera Pia, 13 ground floor). A second reminder will be sent by email in the next few days, but I kindly ask you to take note already and to inform possibly interested parties. Thank you for your attention, Giovanni Indiveri
03/06/2024 10:00 GENOVA Orale Dear All, this is addressed to the students currently enrolled for the exam of CONTROL OF LINEAR MULTI-VARIABLE SYS. on January 18th, 2024. Due to an overlapping work appointment the exams will not start at 10.00 as previously scheduled, but at 14:30 in room E2 (Padiglione E, via all’Opera Pia, 13 ground floor). A second reminder will be sent by email in the next few days, but I kindly ask you to take note already and to inform possibly interested parties. Thank you for your attention, Giovanni Indiveri
25/06/2024 10:00 GENOVA Orale Dear All, this is addressed to the students currently enrolled for the exam of CONTROL OF LINEAR MULTI-VARIABLE SYS. on January 18th, 2024. Due to an overlapping work appointment the exams will not start at 10.00 as previously scheduled, but at 14:30 in room E2 (Padiglione E, via all’Opera Pia, 13 ground floor). A second reminder will be sent by email in the next few days, but I kindly ask you to take note already and to inform possibly interested parties. Thank you for your attention, Giovanni Indiveri
12/07/2024 10:00 GENOVA Orale Dear All, this is addressed to the students currently enrolled for the exam of CONTROL OF LINEAR MULTI-VARIABLE SYS. on January 18th, 2024. Due to an overlapping work appointment the exams will not start at 10.00 as previously scheduled, but at 14:30 in room E2 (Padiglione E, via all’Opera Pia, 13 ground floor). A second reminder will be sent by email in the next few days, but I kindly ask you to take note already and to inform possibly interested parties. Thank you for your attention, Giovanni Indiveri
25/07/2024 10:00 GENOVA Orale Dear All, this is addressed to the students currently enrolled for the exam of CONTROL OF LINEAR MULTI-VARIABLE SYS. on January 18th, 2024. Due to an overlapping work appointment the exams will not start at 10.00 as previously scheduled, but at 14:30 in room E2 (Padiglione E, via all’Opera Pia, 13 ground floor). A second reminder will be sent by email in the next few days, but I kindly ask you to take note already and to inform possibly interested parties. Thank you for your attention, Giovanni Indiveri
12/09/2024 10:00 GENOVA Orale Dear All, this is addressed to the students currently enrolled for the exam of CONTROL OF LINEAR MULTI-VARIABLE SYS. on January 18th, 2024. Due to an overlapping work appointment the exams will not start at 10.00 as previously scheduled, but at 14:30 in room E2 (Padiglione E, via all’Opera Pia, 13 ground floor). A second reminder will be sent by email in the next few days, but I kindly ask you to take note already and to inform possibly interested parties. Thank you for your attention, Giovanni Indiveri

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