FUNDAMENTALS OF AUTOMATICS

Course objectives

This course provides methodological tools for solving control problems for dynamical systems. All the presented concepts are illustrated through examples taken from various application fields. Specific objectives Knowledge and understanding: Methods for designing feedback control systems based on the use of transfer functions or state space representations. Apply knowledge and understanding: Students will be able to design controllers that ensure the satisfaction of specifications concerning stability, precision and disturbance rejection, using techniques that operate in the time, Laplace or frequency domain. Critical and judgment skills: Students will be able to choose the most suitable control methodologies for specific problems and to evaluate the complexity of the proposed solutions. Communication skills: The course activities allow the student to be able to communicate/share the design specifications of a feedback control scheme, as well as the design choices and methodologies of the relevant controllers. Learning ability: In addition to the classic learning skills gained with the theoretical study of the teaching material, the course development aims at giving the student a mindset oriented towards the comprehension of control problems as well as the design of controllers capable of satisfying a series of design specifications.

Channel 1
ALESSANDRO DI GIORGIO Lecturers' profile

Program - Frequency - Exams

Course program
1. Analysis of linear time-invariant dynamic systems Concept of system. Input-state-output representations. Systems classification. Linearity and time invariance. Explicit and implicit representations. Linearization and discretization. Free evolution: state transition matrix, natural modes. Internal asymptotic stability and Routh criterion. Forced evolution: impulse response, transfer function. Controllability and observabiity of natural modes. Relationships between eigenvalues and poles. Steady-state and frequency response. Bode diagrams. Interconnected systems: series, parallel, feedback. Stability of feedback systems: Nyquist criterion. Stability margins. 2. Control systems: structure and design requirements Feedback in automatic control: examples, structure and fundamental properties. Precision: system type and associated conditions. Steady-state error. Disturbance rejection: astatism and associated conditions. Disturbance attenuation. Requirements on the step response and relationships with the open-loop frequency response. 3. Frequency domain design techniques Elementary compensating functions and their realization. Design of compensating functions based on Bode diagrams. 4. Laplace domain design techniques Root locus and its drawing procedure. Stabilization of minimum-phase systems based on root locus. Stabilization of non minimum-phase systems. Design of minimum-dimension controllers. Design by pole assignment. 5. State space design techniques Structural properties: reachability and observability. Kalman structural decompositions. Eigenvalue assignment via state feedback. Stabilization via state feedback. Asymptotic observer. Separation principle. Detectability and stabilization via output feedback. Choice of closed-loop eigenvalues. Inclusion of the reference signal in state feedback schemes. 8. Examples Examples of mechanical, electrical and electromechanical systems.
Prerequisites
Students should know the fundamental notions of calculus (in particular, the theory of linear differential equations), of linear algebra (eigenvalues, eigenvectors, canonical forms of linear operators), of physics (mechanical and electrical systems) as well as Laplace transform theory.
Books
Recommended texts S. Monaco, C. Califano, P. Di Giamberardino, M. Mattioni – “Teoria dei Sistemi lineari stazionari a dimensione finita”, Esculapio, 2021. A. Isidori: "Sistemi di Controllo", Voll. 1 e 2, Siderea, 1992. Other texts A. Ruberti, S. Monaco: "Teoria dei Sistemi – Appunti delle lezioni", Pitagora Editrice. 1998. L. Lanari, G. Oriolo: "Controlli Automatici - Esercizi di Sintesi", EUROMA-La Goliardica, 1997. P. Bolzern, R. Scattolini, N.Schiavoni: "Fondamenti di Controlli Automatici", McGraw-Hill, 1998. G. Marro: "Controlli Automatici", Zanichelli, 1992. A. Ruberti, A. Isidori: "Teoria dei Sistemi", Boringhieri, 1979. A. Ruberti, A. Isidori: "Teoria della Stabilità", Siderea, 1977.
Teaching mode
Traditional lectures.
Frequency
Attendance of lessons not necessary, but recommended.
Exam mode
Written and oral test
Bibliography
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Lesson mode
Traditional lectures.
  • Lesson code1015384
  • Academic year2024/2025
  • CourseElectrical Engineering
  • CurriculumIngegneria Elettrotecnica (percorso valido anche ai fini del conseguimento del doppio titolo italo-venezuelano)
  • Year3rd year
  • Semester2nd semester
  • SSDING-INF/04
  • CFU9
  • Subject areaAttività formative affini o integrative