The course provides the foundations for the study of the dynamics of mechanical systems under the assumption of linearity and for the synthesis of control systems.
The aim of the course is to provide the tools to study the dynamics of mechanical systems with linear models, single-input/single-output, introducing the concepts of open-loop and closed-loop, and the criteria to assess the behaviour of servomechanisms. The fundamentals of digital, analog and mixed automation systems are presented.
The course aims to provide students with the basic concepts of linear systems theory, with particular reference to single input and output (SISO) systems, through both time-domain and frequency-domain analysis (using the Laplace transform). The concept of open-loop and closed-loop systems (control loop) is introduced, and the basic notions of closed-loop controller synthesis are provided. By the end of the course, the student should be able to 1) analyze the model of an open-loop dynamic system using linear systems theory, 2) design a controller suitable for the application based on requirements of accuracy, responsiveness, and stability, and 3) verify the stability properties of the closed-loop system in the presence of disturbances.
Basic concepts of Mathematical Analysis and Linear Algebra without prerequisites.
The course consists of lectures, totaling approximately 50 hours, including both theory and practice.
1) General introduction to dynamic systems; 2) linear time-invariant (LTI) systems: state equations, free response, forced response in transient and steady-state; 3) Laplace transform and inverse transform; 4) transfer function, poles, and zeros of an LTI system with a single input and output (SISO); 5) frequency response; 6) Bode plot and its asymptotic sketching; 7) Nyquist plot; 8) stability of closed-loop LTI SISO systems; 9) phase margin and gain margin; 10) steady-state error; 11) bandwidth and specifications for controlled systems in the presence of noise.
1) P. Bolzern, R. Scattolini, N. Schiavoni, Fondamenti di controlli automatici, McGraw-Hill Education, 2025. 2) P.J. Antsaklis, A.N. Michel, Linear Systems, Birkauser, 2006.
Ricevimento: On demand, by agreeing via email.
https://corsi.unige.it/en/corsi/8720/studenti-orario
The timetable for this course is available here: EasyAcademy
The exam consists of a written part (with a maximum score of 27/30) and an oral part, at the discretion of the instructor.
Details on the exam preparation methods and the depth of coverage for each topic will be provided during the lessons.
