73123 - System and Control Theory for Automation (2nd cycle)

Learning outcomes

Generalities on Linear Time-Invariant systems, Laplace transform and inverse transform, Transfer functions; Basic principles of linear-system stability; Response modes, 1st and 2nd order elementary systems and their composition to implemented higher-order systems; Structural properties of linear systems, Bode and Nyquist diagrams, root locus; Controller design for linear systems, lead and lag networks, PID controller; Cascade controllers; Introduction to nonlinear system control, linearization-based control.

Course contents

• Definition of system, connection, control and disturbance inputs, outputs. Mathematical models. Definition of automatic control. Controller exampes. Open-loop and closed-loop control.
• Modelling principles. Electric systems. Rotational and translational mechanical systems. Hydraulic system. Termic systems. Electromechanical systems, Servomotors.
• Frequency domain analysis. Initial conditions. Forced responce and transfer functions. From transfer functions to state space representation.
• Canonical forms, zeros and poles, time constants. Responce to canonical inputs for 1st and 2nd-order systems, Responceof higher order-systems and dominant poles.
• Block schemes and the Mason's formula.
• Armonic response and its connection with the transfer function.
• Closed-loop systems and steady-state errors. Type and classification of systems. The role of inputs.
• Disturbance rejection in open-loop and closed-loop systems. Sensitivity functions. Parameter sensitivity.
• The Routh criterion.
• Root locus, design based on root locus.
• Time-domain and Frequency-domain control design. Design specifications and internal model principle.
• Lead and lag networks, inversion formulae.
• The PID regulator and Ziegler-Nichols tuning.
• Cascade control, setpoint prefiltering, Feedforward/Feedback control, integral control desaturation.
• Matlab/Simulink for the design of control systems.

Readings/Bibliography

• G. Marro. Controlli Automatici. Zanichelli Ed. Bologna

• P.Bolzern, R.Scattolini, N.Schiavoni. "Fondamenti di Controlli Automatici", McGraw Hill 2004

• R. Carloni, C. Melchiorri, G. Palli, "Esercizi di Controlli Automatici e Teoria dei Sistemi", Progetto Leonardo, Bologna

• R. Zanasi, "Esercizi di Controlli Automatici. Testi d'esame svolti", Esculapio, Progetto Leonardo, Bologna

• Course slides

Teaching methods

• Frontal Instruction
• Active Learning
• Experimental Learning

Assessment methods

Individual oral exam

Teaching tools

Lecture notes, Matlab and Simulink

Office hours

See the website of Gianluca Palli

See the website of Umberto Soverini