- Docente: Claudio Melchiorri
- Credits: 6
- SSD: ING-INF/04
- Language: Italian
- Moduli: Claudio Melchiorri (Modulo 1) Davide Samorì (Modulo 2)
- Teaching Mode: Traditional lectures (Modulo 1) Traditional lectures (Modulo 2)
- Campus: Bologna
- Corso: First cycle degree programme (L) in Automation Engineering (cod. 9217)
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from Feb 20, 2025 to Apr 11, 2025
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from May 08, 2025 to Jun 13, 2025
Learning outcomes
Goal of the course is to deepen the skills and competencies in the design and implementation of real-time control systems, in particular with respect to automatic machines, robots and motion control systems. Additional control techniques will be introduced, as: 1) Adaptive control systems based on model reference and selftuning schemes, to cope with system parameter uncertainties and variable operating conditions; 2) Feedback/Feedforward control design for electrical drives in modern automatic machines. Students will learn how to face possible problems deriving from discrete-time implementation of these control schemes.
Course contents
This is a laboratory course on the design of digital controllers for electric motors, automatic machines, robots. In the first part (30 hourse), assuming a basic knowledge of standard controllers (e.g. PID, lead/lag), the following topics will be discussed.
- Design of discrete-time controllers: discretization and direct synthesis
- Pole/Zero Placement
- Deadbeat controllers
- Dahlin controllers
- Adaptive Control
- Control of an Electric Drive (cascade control, feedforward action, ...)
Readings/Bibliography
Notes and other teaching material are available on "Virtuale".
Books (suggested):
• C. Bonivento, C. Melchiorri, R. Zanasi, "Sistemi di Controllo Digitale", Progetto Leonardo, Esculapio Ed., Bologna
• K. Ogata, "Discrete-Time Control Systems", Prentice Hall
Teaching methods
The course is taught in English, and is composed by two modules. The first consists of 30 hours of lessons, (3 credits); Simulation tools will also be presented, which will be used in the second module of the course (laboratory activity - 30 hours, 3 CFU).
Assessment methods
Final assessment consists in the presentation of the activities developed in the laboratory part, with a discussion on some theoretical arguments illustrated in the first part of the course.
Teaching tools
First module: Slides and notes.
Second module: Laboratory setups.
Office hours
See the website of Claudio Melchiorri
See the website of Davide Samorì
SDGs




This teaching activity contributes to the achievement of the Sustainable Development Goals of the UN 2030 Agenda.