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CODE 106722
LANGUAGE Italian (English on demand)


The course offers the needed knowledge for the study and development of advanced control systems for electrical systems, with particular reference to electronic power converters and to electrical drives, to guarantee the efficient transformation of electrical energy in the various forms required, in a very high power range, from the mW required for mobile phone operation to the tens of MW required for the operation of large naval electric motors.



The essential parts of modern automatic control theory for ambitious applications are developed with the help of the means offered by current electronic and computer technology. These concepts are used for study and development of advanced control systems for power electronic converters and electric drives.


Attendance and participation in the planned training activities will allow the student to know the essential parts of the modern theory of automatic controls, rich in mathematical content, and to learn the elementary theory of sampled dynamic systems and digital control systems, with a focus on control of converters and electric drives.

At the end of the course, the student will be able to:

• apply the skills and knowledge developed for the correct and rigorous formulation of even complex problems and to set up the solution, using the means offered by current electronic and IT technology, also considering fundamental aspects in the application context;

• solve converters and electric drives control problems using digital simulation tools;

• implement elementary control systems on digital architectures;

• characterize implementation solutions for the control of power electronic converters.


The course includes theoretical lectures (124 hours) and laboratory exercises (26 hours). The exercises will be both passive and active, the students will be invited to set up some computer control systems, independently. Attendance is absolutely recommended.


Fundamentals of stability theory: Premises. Definitions of stability according to Liapunov, motion and trajectory. Stability theorems.

Processing by input-state-output equations: Review of systems theory. Basic definitions. Notes on realizations in normal form. Stability of linear systems. Controllability and observability. Effects of feedbacks.

Control through state estimation (linear case): State estimation. Assignability of the poles and stabilization.

Optimal control: Premises. The maximum principle. Fundamental formulations. Some special cases.

Variable structure control: Operation in "sliding mode", conditions and limits of existence. Assignment of poles via state feedback. Applications to power conditioning systems and DC motor drives.

Cascade control for electric drives: general structure, meaning and effect of the limitations, feedforward action, anti-windup. Exemplification to the case of the DC motor.

Specific control techniques for electronic power converters and alternating current motors: voltage and current control of converters, vector modulation, scalar and vector controls of ac electric motors.

Acquisition and estimation of motor variable quantities and parameters for regulation: sensors, estimation algorithms.

Digital control: Z transform. Sampled-data systems. Sample rate effects and selection. Discrete Equivalents. Design and implementation of control systems for digital architectures.


All the audiovisual material used during the lessons and other educational material will be available on aulaweb. In general, the notes taken during the lessons and the material on aulaweb are sufficient for the preparation of the exam.

The texts indicated below, normally available at the Library, are suggested as support for some parts or for further information:


  1. F. Saccomanno: “Complementi di Teoria dei Controlli Automatici”, CUSL Genova.
  2. Hansruedi Bühler: “Réglage par Mode de glissement”, Presses Polytechniques Romandes, 1986.
  3. M. Carpita, M. Marchesoni: "Experimental study of a power conditioning system using sliding mode control", IEEE Transactions on Power Electronics, Vol. 11, No. 5, Settembre, 1996, pp.731-742.
  4. N. Mohan, T. M. Undeland, W.P. Robbins – “Power Electronics: Converters, Applications and Design”, John Wiley & Sons Limited, 1995.
  5. P.C. Krause, O. Wasynczuk, S.D. Sudhoff, “Analysis of Electric Machinery and Drive Systems”, IEEE Press, 2002
  6. B. K. Bose - “Power Electronics and Variable Frequency Drives: Technology and Applications”, IEEE Press, 1996.
  7. N. Mohan - “Electric Drives: an Integrative Approach”, MNPERE, Minneapolis, MN 55414 USA, 2001.
  8. Franklin, G. F., Powell, J. D., & Workman, M. L. (1998). Digital control of dynamic systems.



Class schedule

The timetable for this course is available here: Portale EasyAcademy



The exam consists of an oral test covering the entire teaching programme; alternatively it is possible to take a first test (with a mark out of thirty) concerning the topics covered in the classroom in the first semester by Prof. Marchesoni, a second test (with a mark out of thirty) concerning the topics covered in the classroom in the second semester by Prof. Marchesoni and a third test (with a mark out of thirty), concerning the topics covered in the classroom by Prof. Formentini. In the latter case, the mark will be determined by the average weighted on the credits of the three marks obtained, that is to say, A, B and C being defined as the marks obtained respectively in the first, second and third tests, the final mark will be given by formula Ax0.4+Bx0.4+Cx0.2, with the result rounded to the nearest integer. If the first decimal place of the result is equal to 5, it will be rounded to the highest integer.

Students who have valid certification of physical or learning disabilities on file with the University and who wish to discuss possible accommodations or other circumstances regarding lectures, coursework and exams, should speak both with the instructor and with Professor Federico Scarpa (, the School's disability liaison.


Details on how to prepare for the exam and on the degree of depth of each topic will be given during the lectures. The exam will focus on all the topics covered both during the lectures and during the exercises and will allow us to verify the knowledge of the theory taught and the ability to correctly formulate even complex problems and set their solution.

Agenda 2030 - Sustainable Development Goals

Agenda 2030 - Sustainable Development Goals
Affordable and clean energy
Affordable and clean energy
Industry, innovation and infrastructure
Industry, innovation and infrastructure
Sustainable cities and communities
Sustainable cities and communities
Responbile consumption and production
Responbile consumption and production
Climate action
Climate action