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 circuit theory and physics.
Teaching Methods
Theoretical face-to-face lectures, blackboard exercises, Matlab exercises on the computer, and an exercise conducted on a laboratory process are provided.
Assessment Methods
Closed-book, closed-note written exam. Both knowledge of theory and skills in solving simple exercises will be tested. The student has 3 hours to take the exam. A maximum of 3 additional points can be obtained during Matlab exercises.
Texts
P. Bolzern, R. Scattolini, N. Schiavoni. Fondamenti di controlli automatici. McGraw-Hill, 2015. Quarta edizione.
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.
