The goal of this course is to teach methods for analysing fundamental properties of dynamical systems and design basic control schemes on the basis of given requirements. Lectures will focus on methodological tools, while in lab students will learn computer-based control design using MATLAB and Simulink, which are standard platforms in the industrial context.
Course Prerequisites
Linear algebra, complex numbers, basics of physics.
Teaching Methods
Lectures (hours/year in lecture theatre): 27 Practical class (hours/year in lecture theatre): 57 Practicals / Workshops (hours/year in lecture theatre): 20
Assessment Methods
Closed-book, closed-note written exam. Both knowledge of theory and skills in solving simple exercises will be tested. The exam has a total duration of 3 hours.
Texts
Gene F. Franklin, J. David Powell, Abbas Emami-Naeini. Feedback Control of Dynamic Systems. Prentice Hall.
Contents
- System theory Introduction to control problems. Mathematical modelling of physical systems. Definition of dynamical systems. State-space models. Trajectories and equilibria. Stability. Stability of linear time-invariant systems. Routh-Hurwitz stability criterion. Transfer functions. Block diagrams. Step response. Frequency response. Bode and Nyquist diagrams.
- Analysis and design of control systems Feedback control schemes. Control specifications. Nyquist and Bode stability criteria. Static, dynamic and robust performance. Sensitivity functions. Control design in the frequency domain. Loop shaping. PID controllers. Root locus.
