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CODICE 80181
ANNO ACCADEMICO 2023/2024
CFU
SETTORE SCIENTIFICO DISCIPLINARE ING-INF/04
LINGUA Inglese
SEDE
  • GENOVA
PERIODO 1° Semestre
MATERIALE DIDATTICO AULAWEB

PRESENTAZIONE

Obiettivo del corso è presentare i concetti e i metodi di base per l'analisi e la progettazione di controllori per sistemi multivariabili tempo invarianti lineari (sistemi MIMO LTI) di interesse nell'ambito di applicazioni robotiche. I modelli utilizzati nel corso sono principalmente quelli nello spazio degli stati. Verranno illustrati i problemi di base relativi all'allocazione del controllo per robot ed al controllo del moto di robot.

 

OBIETTIVI E CONTENUTI

OBIETTIVI FORMATIVI

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.

OBIETTIVI FORMATIVI (DETTAGLIO) E RISULTATI DI APPRENDIMENTO

Al termine del corso gli studenti saranno in grado di:

a) Costruire e analizzare modelli di sistemi multivariabili tempo-invarianti lineari.

b) Risolvere problemi elementari di allocazione del controllo basandosi su metodi pseudo-inversione matriciale.

c) Progettare regolatori in grado di imporre una assegnata dinamica ad anello chiuso, anche nel caso in cui lo stato del sistema non sia completamente accessibile.

PREREQUISITI

Concetti fondamentali relativi alla Teoria dei Sistemi e alla Teoria Classica del Controllo.

MODALITA' DIDATTICHE

Lezioni ed esercitazioni al computer.

PROGRAMMA/CONTENUTO

1) Modellazione e analisi di sistemi lineari multivariabili (a tempo continuo e discreto);

2) Stabilità e proprietà strutturali di sistemi dinamici multivariabili lineari;

3) Metodi di pseudo-inversione matriciale per l'allocazione del controllo, la cinematica inversa e il controllo del movimento di robot;

4) Assegnazione dei poli e osservatori dello stato per sistemi MIMO LTI.

TESTI/BIBLIOGRAFIA

Articoli e dispense distributi dal docente;
H. Kwakernaak, R. Sivan - Linear Optimal Control Systems - Wiley 1972

DOCENTI E COMMISSIONI

Commissione d'esame

GIOVANNI INDIVERI (Presidente)

MICHELE AICARDI

GIORGIO CANNATA

ENRICO SIMETTI (Presidente Supplente)

LEZIONI

INIZIO LEZIONI

Si rimanda al calendario ufficiale delle lezioni del Corso di Studi.

Orari delle lezioni

L'orario di questo insegnamento è consultabile all'indirizzo: Portale EasyAcademy

ESAMI

MODALITA' D'ESAME

Esame orale.
Agli studenti con disturbi specifici di apprendimento (DSA) sarà consentito l'utilizzo di modalità e supporti specifici che verranno valutati caso per caso d'intesa con il delegato dei corsi di Ingegneria nel Comitato per l'inclusione degli studenti con disabilità.

MODALITA' DI ACCERTAMENTO

Verrà valutata la capacità dello studente di risolvere semplici problemi di analisi e di controllo. 

Calendario appelli

Dati Ora Luogo Tipologia 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

Agenda 2030

Agenda 2030
Vita sott'acqua
Vita sott'acqua