Purpose
The course aims to give the basis for the analysis, the simulation and the control of actual physical systems with linear or nonlinear characteristics. All the topics are both analyzed from a theoretical and a practical point of view. A relevant number of trained laboratory lessons are planned. The advanced programming of the simulation program Matlab/Simulink is taught.
Program
Dynamic
linear system model. Elaboration
of a dynamic linear system model (servomechanism) by studying its
physical characteristics.
Dynamic
linear system control. Design
requirements and pole assignment for a feedback system. Controller
design for linear systems: unit feedback, state-input, Diophantine
equation. Effects introduced by nonminimum-phase zeros. Discrete
controllers design through the Diophantine equation. Linear state
observers.
Discretization
of continuous control systems. Sampling
time selection and its effects on the controlled system. Problem
caused by signal quantization and saturation.
System
Identification.
Basic concepts of system identification. Signals persistently exiting
the system dynamics.
Unmodelled
dynamics effects and model nonlinearities. Dynamic
nonlinear systems model. Elaboration of a nonminimum-phase nonlinear
system model (inverted pendulum) by studying its physical
characteristics.
Nonlinear
systems control. Design
by system linearization and eigenvalues assignment. Optimal control
basic concepts.
Teaching activities
A
wide part of the course takes place at the Automation Lab.
Theoretical lessons mainly deal with mechatronic systems control.
Arguments and techniques learned in the theoretical lessons are
applied during the laboratory trained lessons. The laboratory
activity mainly consists in simulating linear and nonlinear feedback
control systems by means of the Matlab/Simulink program. All
theoretical subjects are experimentally validated by using the
mechatronic systems which are available at the Automation Lab.
Examination method
Laboratory assignments are periodically evaluated during the course. A final examination is contemplated, based on a theoretical test and an experimental test consisting in the development of a feedback controller for a nonlinear system.
Suggested readings:
D.
Hanselman, and B. Littlefield,“The student edition of Matlab”,
Prentice Hall, Upper Saddle River, NJ
J. B. Dabney, and T. L.
Harman, “The student edition of Simulink, Prentice Hall, Upper
Saddle River, NJ
Suggested propaedeutic courses
Controlli Automatici, Controlli Digitali, Robotica Industriale A
Language of instruction: Italiano
