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

Learning outcomes

At the end of the course the student posses: a general knowledge of dynamic systems and in particular of linear continuous and of their representation by means of Laplace transform and transfer functions; a basic knowledge of thes stability principles for linear systems; the knowledge of the response modes of elementary 1st and 2nd order systems and how they can be composed to create higher-order systems; the capacity of performing structural analysis of linear dynamic systems by means of Bode diagrams, Nyquist diagrams, root locus and contour; the capability of designing control laws for linear systems, and in particular the design of compensation networks and PID controllers; the basic principles of cascade regulation.

Course contents

• Historical notions. Definition of system, connection, control and disturbance inputs. Mathematical models. Automatic control definition. Control system examples. Open loop and closed loop control.

• Elements of modelling. Electrical systems. Mechanical systems with translatory and rotational motion. Idraulic and thermic systems. Electromechanical systems: DC servomotors.

• Frequency domain analysis. Initial condition problem. Forced response and transfer function. From the state space to transfer function.
  

• Transfer function canonical forms, zeros and poles, time constants. Relations between zeros-poles maps and impulse response. Response to canonical signals of first and second order systems. Higher-order system response and dominance criteria.

• Block scheme algebra and Mason formula.

• Armonic response function: defintion and relation with the transfer function. Bode diagrams and plot rules. Nyquistdiagrams and plot rules.

• Feedback systems and steady-state errors. System classification and type. Input role. Canonical inputs.

• Disturbance rejection in open-loop and closed-loop systems. Sensitivity and complementary sensitivity functions. Disturbance effect in relation with the entrance point in the loop. Parametric sensitivity in the direct and in the feedback path.

• Routh criterion. Use of Routh criterion and special cases.

• Root locus, complementary root locus and root contour. Plot rukes. Design by means of root locus.

• Time-domain and frequency-domain design methods. Static requirement fitting and internal model principle.

• Lead-Lag regulators. Inversion formulas.

• PID regulator and Ziegler-Nichols tuning method.

• Cascade control, setpoint prefiltering, Feedforward/Feedback control schemes, integral action anti-windup.

• Matlab/Simulink usage for control system design. Design example for linear systems and for non-linear systems through linearization.

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

• Dispense e altro materiale forniti dal docente

Teaching methods

• frontal classes 

• individual project development 

Assessment methods

• Individual oral exam about course arguments 

Links to further information

http://www-lar.deis.unibo.it/people/gpalli/TSCA-LM-2016.html

Office hours

See the website of Gianluca Palli