90448 - Laboratory of Automation Systems T

Learning outcomes

Goal of the course is to deepen the skills and competencies in the design and implementation of real-time control systems, in particular with respect to automatic machines, robots and motion control systems. Additional control techniques will be introduced, as: 1) Adaptive control systems based on model reference and selftuning schemes, to cope with system parameter uncertainties and variable operating conditions; 2) Feedback/Feedforward control design for electrical drives in modern automatic machines. Students will learn how to face possible problems deriving from discrete-time implementation of these control schemes.

Course contents

This laboratory-based course is dedicated to the design and implementation of digital controllers for electric motors, automated machinery, and robotic systems. The first module (30 hours) assumes prior knowledge of classical control techniques (e.g., PID, lead/lag compensators) and introduces advanced topics in discrete-time control design.

Topics covered include:

• Discrete-time controller design: discretization techniques and direct synthesis methods
• Pole-zero placement strategies
• Deadbeat control algorithms
• Dahlin controller design
• Adaptive control methodologies
• Control of electric drives: cascade architectures, feedforward compensation, and related techniques

The second module is dedicated to the implementation on a laboratory setup of some of these techniques.

The course emphasizes practical implementation and validation of control algorithms through simulation and laboratory experiments.

Readings/Bibliography

Notes and other teaching material are available on "Virtuale".

Books (suggested):

• C. Bonivento, C. Melchiorri, R. Zanasi, "Sistemi di Controllo Digitale", Progetto Leonardo, Esculapio Ed., Bologna

• K. Ogata, "Discrete-Time Control Systems", Prentice Hall

• Bolzern, Scattolini, Schiavoni, “Fondamenti di Controlli Automatici ”, Mc Graw Hill

Teaching methods

The course is delivered in English and is organized into two modules.

• Module 1 (30 hours – 3 CFU): This module consists of lectures covering theoretical aspects of digital control design. Simulation tools will also be introduced, providing the foundation for practical applications in the second module.
• Module 2 (30 hours – 3 CFU): This module is dedicated to laboratory activities, where students will apply the concepts and tools presented in the first part to implement and test digital controllers in practical scenarios.

Assessment methods

Final assessment consists in the presentation of the activities developed in the laboratory part, with a discussion on some theoretical arguments illustrated in the first part of the course.

Teaching tools

First module: Slides and notes.

Second module: Laboratory setups.

Office hours

See the website of Claudio Melchiorri

See the website of Davide Samorì