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 2023
- Offered
- 2025/26
- Learning activities
- Caratterizzante
- Area
- Ingegneria informatica
- Sector
- ING-INF/04
- Type of study-unit
- Obbligatorio (Required)
- Type of learning activities
- Attività formativa monodisciplinare
- Language of instruction
- Italian
- Contents
- Modeling of processes in the state space; simulation. Structural properties. Lyapunov stability: linear systems, equilibrium points for nonlinear systems (reduced/first method and second/direct method). Eigenvalue placement, asymptotic state observers, and the separation principle. Introduction to the Kalman filter.
PID controllers and their tuning. Introduction to ROS (Robot Operating System) and its use for mobile robot control.
Throughout the course: computer-based simulation, MATLAB/Octave and Python code, experimental implementation of simple control schemes for robots, and motion control problems in general. - Reference texts
- Fondamenti di controlli automatici, di Paolo Bolzern, Riccardo Scattolini, Nicola Schiavoni, Mc Graw Hill Education, 2015/2024. Teaching material made available by the teacher.
- 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 sufficient. 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 concepts are also discussed. - Extended program
- Modeling of processes in the state space; simulation. Structural properties. Lyapunov stability: linear systems, equilibrium points for nonlinear systems (reduced/first method and second/direct method). Eigenvalue placement, asymptotic state observers, and the separation principle. Introduction to the Kalman filter.
PID controllers and their tuning. Introduction to ROS (Robot Operating System) and its use for mobile robot control.
Throughout the course: computer-based simulation, MATLAB/Octave and Python code, experimental implementation of simple control schemes for robots, and motion control problems in general. - Obiettivi Agenda 2030 per lo sviluppo sostenibile
- 4. Istruzione di qualità
9. Industria, innovazione e infrastrutture