28630 - Control Systems T-A (L-Z)

Learning outcomes

Objective: providing the fundamentals for single-input single-output control system design.

Course contents

The course consists of two Part A and Part B.

Part A General concepts: historical notes; what automation is; concepts of material manipulation and symbolic manipulation. Automatic control systems: open loop control and feedback control; eexamples of automatic control systems: position, velocity, level and temperature regulators. Mathematical models: the identification problem; parametric and non parametric identification techniques. Analysis in the time domain: stability: Routh criterium. Controllability and observability. Steady state errors; insensitiveness to disturbances and parameter variations. Root locus. Synthesis in the time domain: standard regulators; Ziegler and Nichols techniques. Components of the control systems: electric DC motor, transducer devices (position and velocity transducers, temperature transducers).

Part B Analysis of Linear Dynamic Systems: linear time-invariant ordinary differential equations; differential equations of physical systems; solution of homogeneous differential equations with nonzero-initial conditions; solution of forced differential equations with zero initial conditions; solution of forced differential equations with nonzero initial conditions; the Laplace transform; conditions for a function of time to be L-transformable; the theorem of convergence; linearity and homogeneity of the Laplace transform; important Laplace transform pairs; important theorems of the Laplace transform; application of Laplace transform to the solution of linear ordinary differential equations; the transfer function of linear systems; the Ward-Leonard electromechanical system; inverse Laplace transform by partial-fraction expansion: simple poles and multiple-order poles;  canonical responses; Dirac impulse; convolution integral; first order system step response; second order system step response. Frequency Domain Analysis: frequency response and relationship with  transfer function; deriving the impulse response from the frequency response; Bode plots; polar plots (Nyquist plots);  magnitude-phase plot (Nichols plots). Nyquist criterion; gain margin and phase margin. Compensation networks (integration network, derivation network, phase-lead network, phase-lag network, lead-lag network) and their diagrams (Bode and Nyquist plots); design with phase-lag controller,  phase-lead controller; pole-zero cancellation; design with lead-lag controller.

Readings/Bibliography

G. MARRO, CONTROLLI AUTOMATICI, QUINTA EDIZIONE CON CD-ROM, ZANICHELLI, BOLOGNA, 2004

M.E. Penati,  G. Bertoni, S. Simonini: Automazione e sistemi di controllo. Esculapio, Bologna, 2010

 M.E Penati, S. Simonini: Automazione e sistemi di controllo. Esercizi e test commentati e risolti. Esculapio, Bologna, 2011

G. Franklin, J.D. Powell, Abbas Emami-Naeini, Feedback Control of Dynamic Systems: 5/E, Int'L edition, pearson-prentice hall, upper saddle river, nj, 2006, ISBN: 0131499300

R. C. Dorf, R.H. Bishop, Modern Control Systems: 10/E, Prentice Hall, 2005, ISBN: 0-13-145733-0

B. Kuo, Automatic control systems: 7/e, Prentice Hall, Englewood cliffs, nj, 1995

Teaching methods

Lectures and exercises.

Assessment methods

Written exam on part A e part B.

Teaching tools

Overhead projector.

CACSD

Office hours

See the website of Elena Zattoni

See the website of Maria Elisabetta Penati