- Docente: Gianluca Palli
- Credits: 6
- SSD: ING-INF/04
- Language: Italian
- Moduli: Gianluca Palli (Modulo 1) Umberto Soverini (Modulo 2)
- Teaching Mode: Traditional lectures (Modulo 1) Traditional lectures (Modulo 2)
- Campus: Forli
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Corso:
Second cycle degree programme (LM) in
Mechanical Engineering (cod. 8771)
Also valid for Second cycle degree programme (LM) in Mechanical Engineering (cod. 8771)
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
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G. Marro. Controlli Automatici. Zanichelli Ed. Bologna
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P.Bolzern, R.Scattolini, N.Schiavoni. "Fondamenti di Controlli Automatici", McGraw Hill 2004
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R. Carloni, C. Melchiorri, G. Palli, "Esercizi di Controlli Automatici e Teoria dei Sistemi", Progetto Leonardo, Bologna
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R. Zanasi, "Esercizi di Controlli Automatici. Testi d'esame svolti", Esculapio, Progetto Leonardo, Bologna
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Course slides
Teaching methods
- Frontal Instruction
- Active Learning
- Experimental Learning
Assessment methods
Individual oral exam
Office hours
See the website of Gianluca Palli
See the website of Umberto Soverini