95598 - AUTOMATIC CONTROL M

Learning outcomes

After a brief summary on elementary concepts of linear algebra, complex analysis and of the Laplace/Z Transforms, the course will provide students with the fundamental tools for the modelling and analysis of (multivariable) dynamic systems and their structural properties. Basic tools of system theory will be introduced, and the design of advanced control schemes addressed.

Course contents

Propaedeutic Knowledge

- vectors: inner product, outer product, norm, and linear (in)dependency.

- matrices: determinant, inverse, transpose, eigenvalues, eigenvectors, image, kernel.

- linear vector spaces: bases, change of coordinates, orthogonal complement.

- first-order ordinary differential equations: solution.

- multivariable functions: derivative, partial derivative, Jacobian, and gradient.

All the arguments listed above do not represent the main topic of the course, and they are revisited in the classes only marginally.

PART 1 - System Theory

State Space Representation, Stability, Reachability, Observability, Kalman Decomposition, Optimal Control, Optimal State Observer

PART 2 – Applications

Longitudinal Controls: Anti-Lock Braking System (ABS), Traction Control System (TCS), Adaptive Cruise Control (ACC)

Vertical Controls: Active Suspension Systems (AS)

Lateral Controls: Electronic Stability Control (ESC)

State Estimation

Readings/Bibliography

N. Mimmo "Analysis and Design of Control Laws for Advanced Driver-Assistance Systems" - 2024 - https://doi.org/10.1007/978-3-031-22520-8

PART 1

[1] P. J. Antsaklis, A. N. Michel, "Linear Systems" - Birkhauser (2006) - ISBN 978-0-8176-4434-5

[2] Frank L. Lewis, Draguna L. Vrabie, Vassilis L. Syrmos, "Optimal Control", Third Edition (2012) - Print ISBN:9780470633496 Online ISBN:9781118122631 DOI:10.1002/9781118122631

[3] D. Simon, “Optimal State Estimation: Kalman, H Infinity, and Nonlinear Approaches” – Wiley (2006)

[4] Weintraub, "Jordan Canonical Form. Theory and Practice" - Morgan & Claypool (2009)

PART 2

[5] U. Kiencke, L. Nielsen. “Automotive Control Systems: For Engine, Driveline and Vehicle” - Second Edition – Springer (2005) - ISBN 978-3-642-06211-7

[6] R. Rajamani. “Vehicle Dynamics and Control” – Springer (2012) - ISBN 978-1-4899-8546-0

[7] W. Chen, H. Xiao, Q. Wang, L. Zhao, M. Zhu. “Integrated Vehicle Dynamics and Control” – Wiley (2016)

[8] T. Gillespie, “Fundamentals of Vehicle Dynamics” - Weber (1992)

[9] Ulsoy, A. Galip, Huei Peng, and Melih Çakmakci. "Automotive control systems". Cambridge University Press, 2012.

Teaching methods

Presentations, Video, Wooclap, Blackboard, Electronic Board, Microsoft Teams, Computer Simulations, MATLAB, Simulink.

Assessment methods

The exam consists of a group (max 3 students) project in which the students solve a control problem related to an automotive case study. The group must provide a technical report and the simulator on which the proposed solution is tested. The project is developed in tight collaboration with the teacher in agreement with a recursive "submit and review" process. The mark is out of 30 and it is equal for all the members of the group.

To pass the exam the students must know the good practices to design a control system with a focus on automotive case studies. The project mark is directly proportional to the technical quality of the work produced.

The exam modality is unquestionable and is also valid for ERASMUS students.

Attendance is not necessary to take the exam.

Teaching tools

Lecture notes, computer listings, videos, past-year class recordings.

Office hours

See the website of Nicola Mimmo