B2378 - THEORY OF SYSTEMS AND CONTROLS FOR AUTOMATION

Conoscenze e abilità da conseguire

At the end of the course the student handles Linear Time-Invariant systems and their representation through Laplace transform and inverse transform and transfer functions, the basic principles of linear-system stability and the response modes (1st and 2nd order elementary systems and their composition to implemented higher-order systems). Students know how to use Bode and Nyquist diagrams and root locus to describe structural properties of linear systems, and how to design controllers for linear systems, lead and lag networks, PID controllers, cascade controllers. Nonlinear system control, with linearization-based control will also be introduced.

Contenuti

1. Introduction to Control Systems. Examples of control systems. Definition of system: control and disturbance inputs, outputs, state variables. Principles of control systems design.
2. Mathematical Models of Systems. Differential equation models of physical systems; Linear approximations of nonlinear models. Modeling principles: Electric systems; Mechanical systems; Flow systems.
3. Input-Output Models. Laplace transform. Transfer functions. Forced and free response. Block diagrams. Signal-flow graphs. Examples.
4. State Variable Models. State-space models. Realization from differential equation models: Canonical forms. Solution of the state equation. Relation with input-output models.
   
5. Stability of Systems. Definitions. External stability (BIBO stability). Routh-Hurwitz criterion. Stability of state-space models: Internal stability and external stability.
6. Feedback Systems. Test input signals. Time-response of first- and second-order systems. Higher-order models. Transient response. Steady-state error of feedback control systems. Performance specification in time-domain and relation with pole location. Sensitivity. Design examples. Analysis using computer software.
   
7. Root Locus. Definition and procedure. Parameter design via the root locus method. Sensitivity and root locus. Introduction to PID controllers. Negative root locus. Design examples. Design using computer software.
8. Frequency Response Methods. Frequency response. Polar plots and Bode plots. Performance specifications in the frequency domain. Design Examples.
9. Feedback Control Systems Design. Cascade compensators. Phase-lead compensator networks: Frequency domain and root-locus design methods. Phase-lag design: Frequency domain and root-locus design methods. Lead-lag controllers. Pre-filters. Design examples.
10. Design Using State-Space Methods. Controllability and observability. Full-state feedback design. State-observer design. Output-feedback design using state-observers. Internal model design. Design examples.
11. Robust Control Systems. Introduction. System sensitivity. Analysis of robustness. Model uncertainty. Design of robust control systems. Anti-windup control. Examples.

Testi/Bibliografia

• Main Textbook: Modern Control Systems, R. Dorf and R. Bishop, Prentice Hall, Global Edition, 2021.
  
• Auxiliary Textbook: Control Systems: An Introduction, H. Khalil, Michigan Publishing, 2023. Note: this textbook is freely available in electronic form at https://control.eecs.umich.edu
  
  Copies of the slides used in the lectures will be made available to the students. These are by no means to be considered exhaustive to achieve proficiency in the subject matter of the course. 
  

Metodi didattici

In-class lectures. Occasional remote lectures may be delivered in both synchronous and asynchronous mode for make-ups. 

Modalità di verifica e valutazione dell'apprendimento

Comprehensive oral exam. Exams may include written questionnaires and/or design problems. Exams will be in English. 

Strumenti a supporto della didattica

• Examples and recitation sessions.
• Computer-aided design tools (MATLAB & SIMULINK)

Orario di ricevimento

Consulta il sito web di Andrea Serrani