Course Unit Page
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Teacher Claudio Melchiorri
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Learning modules Claudio Melchiorri (Modulo 1)
Davide Samorì (Modulo 2)
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Credits 6
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SSD ING-INF/04
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Teaching Mode Traditional lectures (Modulo 1)
Traditional lectures (Modulo 2)
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Language English
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Campus of Bologna
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Degree Programme First cycle degree programme (L) in Automation Engineering (cod. 9217)
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Course Timetable from Sep 20, 2021 to Oct 28, 2021
Course Timetable from Nov 04, 2021 to Dec 20, 2021
Academic Year 2021/2022
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 is a laboratory course on the design of digital controllers for electric motors, automatic machines, robots. In the first part (30 hourse), assuming a basic knowledge of standard controllers (e.g. PID, lead/lag), the following topics will be discussed.
- Design of discrete-time controllers: discretization and direct synthesis
- Pole/Zero Placement
- Deadbeat controllers
- Dahlin controllers
- Adaptive Control
- Control of an Electric Drive (cascade control, feedforward action, ...)
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
Teaching methods
The course is taught in English, and it is diveded in two modules. The first consists of 30 hours of lessons, (3 credits); Simulation tools will also be presented, which will be used in the second module of the course (laboratory activity - 30 hours, 3 CFU).
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
Alumni