Computer and Control Engineering

First part (about 45 hours): The role of automation in ICT: examples and applications. Problems relevant to process modelling. Representations of a process in time and Laplace domain and their relationships. Control schemes of a process. Controllable and not controllable eigenvalues. Process stabilizability. Stabilization of processes by adopting the criterion of Routh. Assignment of eigenvalues in the domain of Laplace. Synthesis techniques in the Laplace domain of controllers that simultaneously satisfy specifications related to stability, tracking and rejection of disturbances; synthesis techniques in the Zeta transform domain of controllers that simultaneously satisfy the above-mentioned specifications. Second part (about 45 hours) Stabilization of processes by means of root locus. Synthesis, based on the frequenbcy response (by using Bode and Nyquist diagrams), of controllers that simultaneously meet specifications of stability, bandwidth, phase margin, etc.. Assignment of eigenvalues in the time domain with state and output feedback (the separation principle). The asymptotic observer of the status. Outline of advanced control techniques: : Model Predictive Control, Neural Networks, Reinforcement Learning

No requirement is necessary

A. Isidori: “Sistemi di Controllo”, Vol. 1 e 2, Siderea, 1993. R.C. Dorf, R.H. Bishop, "Controlli Automatici", Prentice Hall, 2010 F. Delli Priscoli: "Dispensa di problemi di controlli automatici ".

Attendance at the lessons is not compulsory, but it is strongly recommended.

Written exam followed by oral discussion. The written test consists of three questions relevant to problems or theoretical topics dealt with during the course. Indicatively, each question weighs for one third of the evaluation. All questions are open-ended.

Traditional. The course is taught by using the blackboard.

First part (about 45 hours): The role of automation in ICT: examples and applications. Problems relevant to process modelling. Representations of a process in time and Laplace domain and their relationships. Control schemes of a process. Controllable and not controllable eigenvalues. Process stabilizability. Stabilization of processes by adopting the criterion of Routh. Assignment of eigenvalues in the domain of Laplace. Synthesis techniques in the Laplace domain of controllers that simultaneously satisfy specifications related to stability, tracking and rejection of disturbances; synthesis techniques in the Zeta transform domain of controllers that simultaneously satisfy the above-mentioned specifications. Second part (about 45 hours) Stabilization of processes by means of root locus. Synthesis, based on the frequenbcy response (by using Bode and Nyquist diagrams), of controllers that simultaneously meet specifications of stability, bandwidth, phase margin, etc.. Assignment of eigenvalues in the time domain with state and output feedback (the separation principle). The asymptotic observer of the status. Outline of advanced control techniques: : Model Predictive Control, Neural Networks, Reinforcement Learning

No requirement is necessary

A. Isidori: “Sistemi di Controllo”, Vol. 1 e 2, Siderea, 1993. R.C. Dorf, R.H. Bishop, "Controlli Automatici", Prentice Hall, 2010 F. Delli Priscoli: "Dispensa di problemi di controlli automatici ".

Attendance at the lessons is not compulsory, but it is strongly recommended.

Written exam followed by oral discussion. The written test consists of three questions relevant to problems or theoretical topics dealt with during the course. Indicatively, each question weighs for one third of the evaluation. All questions are open-ended.

Traditional. The course is taught by using the blackboard.

First part (about 45 hours): The role of automation in ICT: examples and applications. Problems relevant to process modelling. Representations of a process in time and Laplace domain and their relationships. Control schemes of a process. Controllable and not controllable eigenvalues. Process stabilizability. Stabilization of processes by adopting the criterion of Routh. Assignment of eigenvalues in the domain of Laplace. Synthesis techniques in the Laplace domain of controllers that simultaneously satisfy specifications related to stability, tracking and rejection of disturbances; synthesis techniques in the Zeta transform domain of controllers that simultaneously satisfy the above-mentioned specifications. Second part (about 45 hours) Stabilization of processes by means of root locus. Synthesis, based on the frequenbcy response (by using Bode and Nyquist diagrams), of controllers that simultaneously meet specifications of stability, bandwidth, phase margin, etc.. Assignment of eigenvalues in the time domain with state and output feedback (the separation principle). The asymptotic observer of the status. Outline of advanced control techniques: : Model Predictive Control, Neural Networks, Reinforcement Learning

No requirement is necessary

A. Isidori: “Sistemi di Controllo”, Vol. 1 e 2, Siderea, 1993. R.C. Dorf, R.H. Bishop, "Controlli Automatici", Prentice Hall, 2010 F. Delli Priscoli: "Dispensa di problemi di controlli automatici ".

Attendance at the lessons is not compulsory, but it is strongly recommended.

Written exam followed by oral discussion. The written test consists of three questions relevant to problems or theoretical topics dealt with during the course. Indicatively, each question weighs for one third of the evaluation. All questions are open-ended.

Traditional. The course is taught by using the blackboard.

1. Stability of feedback systems Nyquist criterion. Influence of loop gain on stability in feedback. Stability margins: gain margin and phase margin. Bode criterion. 2. Control systems: structure and design specifications 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. 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. 6. Stability of nonlinear systems Stability definitions according to Lyapunov. The direct method of Lyapunov. Design of Lyapunov functions. Invariant set theorems. The indirect method of Lyapunov. 7. Stabilization of nonlinear systems Stabilization via feedback. Stabilization by linear approximation. Exact stabilization via feedback (basics). 8. Examples Examples of application of design techniques. Design and simulation of control systems via MATLAB/Control System Toolbox and Simulink.

Foundations of differential calculus (in particular the theory of linear differential equations), linear algebra (eigenvalues, eigenvectors, canonical forms of linear operators), physics (mechanical and electrical systems) and the theory of Laplace transform. Dynamic systems: Linear and stationary systems. Input-state-output representations. Modeling examples. Free evolution: state transition matrix, natural modes. Asymptotic stability and Routh criterion. Forced evolution: impulse response, transfer function. Relations between eigenvalues ​​and poles. Steady-state and frequency response. Bode plots. Interconnected systems: series, parallel, feedback..

- Slides available on the course website - A. Isidori: "Sistemi di Controllo", volumi 1-2, Siderea, 1992 - L. Lanari, G. Oriolo: "Controlli Automatici - Esercizi di Sintesi", EUROMA-La Goliardica, 1997.

Attendance is recommended but not mandatory.

Two alternative ways: (1) Midterm test + final test (2) conventional written test.

Classroom lectures.