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 2022
Offered
2024/25
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 filterig and Optimal Control.

PID regulators, tuning and autotuning.
Simulation examples and code in matlab 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 matlab 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 and optimal control. PID regulators and tuning.
Application to motion control problems, also with application to mobile robots and drones.
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