Unit FEEDBACK CONTROL SYSTEMS
- Course
- Computer science and electronic engineering
- Study-unit Code
- 70A00093
- Curriculum
- Ingegneria informatica
- Teacher
- Paolo Valigi
- Teachers
-
- Paolo Valigi
- Hours
- 81 ore - Paolo Valigi
- CFU
- 9
- Course Regulation
- Coorte 2020
- Offered
- 2022/23
- Learning activities
- Caratterizzante
- Area
- Ingegneria informatica
- Academic discipline
- ING-INF/04
- Type of study-unit
- Obbligatorio (Required)
- Type of learning activities
- Attività formativa monodisciplinare
- Language of instruction
- Italian
- Contents
- Modelling with the state space, linear and nonlinear models, numerical simulation. Structural properties. Lyapunov stability. Pole placement, state observer, separation principle. Basic on Kalman.
PID regulators, tuning and autotuning.
Simulation examples and code in octave and python.
Application to motion control problems, also with application to mobile robots and drones. - Reference texts
- Fondamenti di controlli automatici, di Paolo Bolzern, Riccardo Scattolini, Nicola Schiavoni, Mc Graw Hill Education, 2015.
- Educational objectives
- Basic methods for modelling, simulation and analysis.
Knowledge to correctly understand and design pole placement control schemes based on pole placement and observer design, PID regulator and their auto-tuning.
Knowledge to correctly design and code medium complexity simulation schemes by using octave and python programming languages.
Control schemes for general motion control problems. Realization of simple schemes on mobile robot platforms. - Prerequisites
- The comprehension of the classes and of the teaching assignments requires a complete comprehension of the contents of "Automatic Fondamentals". In addition, knowledge on the areas of matrix calculus, vector spaces, ordinary differential equations, and complex numbers are of major relevance.
- Teaching methods
- Lessons, exercises, programming and laboratory, project based learning.
- Other information
- Laboratory and activities will be suggested.
- Learning verification modality
- Written and oral test, both mandatory. A project can also be discussed, based on student choice.
The written test is aimed at verifying that the student is able to solve simple modeling and control problems, related to the control schemes discussed during the lessons.
The oral test is based on three open questions, comprising discussion of the written test, with an overall duration of about 30 minutes. To be admitted to the oral test, the mark on the written assignment has to be larger then, or equal, to 15/30. The oral test is finalized to check that the student has acquired a satisfactory level of comprehension and understanding of the theoretical concepts covered by the course, as well as the interaction with the general topics of computer and electronic engineering. Finally, basic pseudo-code/Octave/Python concepts are also discussed. - Extended program
- Modelling with the state space, linear and nonlinear models, numerical simulation. Structural properties. Lyapunopv stabilty. Pole placement, state observer, separation principle.
Basic on Kalman filtering. PID regulators, tuning and autotuning.
Application to motion control problems, also with application to mobile robots and drones.