28630 - Control Systems T-A (A-K)

Learning outcomes

To provide the fundamental methodological and operational tools for the use of mathematical models to analyze and design control systems.

Course contents

Module 1:

Introduction to automatic control. Control problems. Open-loop and Closed-loop (feedback) control.

Systems. Systems as relations. State-space modeling of dynamical systems. System classification.

Stability theory. Trajectories, equilibria, and equilibrium pairs. Internal and external stability.

Linear time-invariant (LTI) systems. Closed-form solution. Superposition principle. Free and forced response. Natural modes. Stability for LTI systems. Linear approximation of nonlinear systems.

Stabilization and regulation. Stabilization via state feedback. Introduction to regulation.

 

Module 2:

Transfer functions. Laplace transform. Transfer functions. Heaviside expansion.

Response of elementary systems. step response of first- and second-order systems. Settling time and overshoot. Mapping time-domain specifications onto the complex plane. Dominant poles. Effects of zeros.

Frequency domain analysis of LTI systems. Fourier series and Fourier transform. Frequency response of an LTI system. Bode plots. Blocking zeros and resonance.

Stability of feedback systems. Output-feedback regulation. Sensitivity functions. Phase margin. Bode criterion.

Performance of feedback systems. Mapping static and dynamic specifications to the loop function. Loop shaping.

PID controllers. Structure and analysis. Realization in the time domain. Elements of digital implementation.

 

Prerequisites: Before taking this course, it is suggested to review the basic concepts of calculus (functions, limits, integrals, differential equations, complex numbers, etc.), linear algebra (matrices, vector spaces, eigenvalues and eigenvectors, etc.), and physics (Newtonian mechanics, electrical circuits, etc.).

Readings/Bibliography

Although the lecture slides provide a structured outline of the topics covered, they are not designed to be a standalone study tool; therefore, it is recommended to supplement your preparation with a foundational textbook on automatic control. The suggested books are:

• Bolzern, Scattolini, Schiavoni, Fondamenti di Controlli Automatici, McGraw-Hill, 2015 (4° ed)
• Marro, Teoria dei sistemi e del controllo, Zanichelli

Teaching methods

Traditional frontal lectures.

Assessment methods

Oral examination (open-ended questions covering the entire syllabus, graded on a 30-point scale).

Students with SLD (Specific Learning Disabilities) or temporary/permanent disabilities: please contact the relevant University office (https://site.unibo.it/studenti-con-disabilita-e-dsa/it ) and the professor in advance to arrange any necessary accommodations. Generally, concept maps, extra time, and step-wise questions are permitted.

Student with the student-athlete or working students status: please contact the professor to arrange, if possible, an alternative date close to the scheduled exam day.

Teaching tools

Slides, scripts, and additional material on Virtuale.

Office hours

See the website of Michelangelo Bin