Course Unit Page

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, ...)


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