The course illustrates methodologies for analysis and synthesis of control systems for single-variable controlled systems. The concept of control with “forward” input is introduced as well as the feedback mechanism for generating the inputs of dynamic systems. The systems of interest are linear and time invariant (LTI), thus representable by transfer functions. These can be deduced from first principles of the physical laws governing the systems or experimentally.
The course aims at delivering the basic conceptual and methodological tools to deal with the analysis and control synthesis for dynamic systems.
Knowledge and understanding issues: Provide adequate knowledge in order to understand the role of control systems for linear time invariant SISO (single input - single output) systems. In particular, the expected learning outcomes are related to the understanding of open and closed loop control architectures and their performances. Central are the concepts of stability of SISO dynamic systems, robustness to model uncertainties and exogenous disturbances.
As for the ability to apply knowledge and understanding, at the end of the course the student is expected to have acquired knowledge to:
Model simple dynamical systems, deducing their representation in terms of interconnection of transfer functions.
Use block algebra to deduce the transfer functions of interest for control purposes, also evaluating all the aspects that characterize them (order, poles / zeros, finite time delays, stability properties, etc.).
Carry out frequency analysis of transfer functions by tracing their Bode and polar diagrams.
Carry out closed loop stability analysis of control systems using all the methods developed (both in the frequency and time domains), checking the consistency between them.
Evaluate the properties of an assigned control system (reduction / cancellation of steady state errors in response to polynomial and sinusoidal signals, evaluation of dynamic behaviors, dominant poles, bandwith, etc.)
Assess the compatibility of the assigned control specifications with the characteristics of the given system. In case of incompatibility, knowing how to reformulate new specifications compatible with the system and the assigned boundary conditions.
Synthesize a regulator for a given system, capable of meeting the specifications of dynamic and steady-state behavior.
As for judgment autonomy and communication skills: judgment autonomy will have to be demonstrated through the knowledge of the concepts and methods described in the course including the generalization of what is illustrated in the course to any other arbitrary SISO linear time invariant system.
Learning skills: the learning ability will be measured (qualitatively) during lessons, student receptions, and exercises that will be based on the maximum possible active participation. The final learning ability will be assessed globally and quantitatively during through the final exam.
Knowledge of the general concepts and methodological tools developed in the "Teoria dei Sistemi" (Systems Theory) course.
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 professor of the course and with the Polytechnic School - Engineering's disability liaison (https://unige.it/en/commissioni/comitatoperlinclusionedeglistudenticondisabilita).
Part 1: introduction to Automatic Controls: general concepts related to open and closed loop control schemes. Introduction to the concept of robustness to exogenous disturbances and parametric uncertainties. Practical examples of plant modeling and their control architectures.
Part 2: introduction to minimal and non-minimal phase systems including systems with finite delays. Introduction to Padé approximations of the delay term exp(-sT).
Part 3: closed loop stability analysis methods: Routh-Hurwitz method; Root Locus method; Nyquist method; phase and gain margin methods; slope method (or Bode qualitative method) generalized to the case of unstable and / or non-minimum phase systems.
Part 4: analysis of the performance, both in the time and frequency domains, of closed loop control systems in steady and transient conditions. Methods of approximate evaluation of transfer functions in closed loop.
Part 5: synthesis of regulators: specifications of a control system; general synthesis methods for minimal phase plants; phase lag and lead regulators, and proportional, integral and derivative (PID) regulator; general synthesis methods for unstable and/or non-minimal phase plants.
Part 6: introduction to the discretisation of continuous time regulators for their digital implementation.
Course notes will be made available by instructors and are to be considered the main course material. As for additional references on specific topics, students should consider the following:
Ricevimento: Students reception can take place at the beginning or ending of any lecture. Additionally, specific appointments can be fixed by email with a few working days of advance.
GIOVANNI INDIVERI (President)
ENRICO SIMETTI
GIORGIO CANNATA (President Substitute)
https://corsi.unige.it/corsi/8719
The timetable for this course is available here: EasyAcademy
Oral exam during which the candidate will have to solve one or more exercises relative to the course program.
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 (https://unige.it/en/commissioni/comitatoperlinclusionedeglistudenticondisabilita).
The oral examination will test the effective acquisition of basic knowledge on the analysis and synthesis of control systems for linear scalar plants studied during the course. Open-ended questions will assess the ability to apply knowledge on practical examples of control system analysis and synthesis using clear and correct terminology. Overall, the oral examination will aim to assess not only whether the student has achieved an adequate level of theoretical knowledge, but whether he or she has acquired the ability to critically address the problems of analysis and synthesis of control systems that will be posed during the examination.
