28630 - Control Systems T-A (L-Z)

Learning outcomes

The course concerns the basics of control theory: more specifically, analysis and synthesis techniques for the design of single-input single-output feedback control systems.

Course contents

The course consists of two parts A and B. Part A is taught by Prof. M.Elisabetta Penati, part B is taught by Prof. Elena Zattoni.

Part A General concepts: historical notes; what automation is; concepts of material manipulation and symbolic manipulation. Automatic control systems: open loop control and feedback control; eexamples of automatic control systems: position, velocity, level and temperature regulators. Mathematical models: the identification problem; parametric and non parametric identification techniques. Analysis in the time domain: stability: Routh criterium. Controllability and observability. Steady state errors; insensitiveness to disturbances and parameter variations. Root locus. Synthesis in the time domain: standard regulators; Ziegler and Nichols techniques. Components of the control systems: electric DC motor, transducer devices (position and velocity transducers, temperature transducers).

Part B Analysis of Linear Dynamic Systems: linear time-invariant ordinary differential equations; differential equations of physical systems; solution of homogeneous differential equations with nonzero-initial conditions; solution of forced differential equations with zero initial conditions; solution of forced differential equations with nonzero initial conditions; the Laplace transform; conditions for a function of time to be L-transformable; the theorem of convergence; linearity and homogeneity of the Laplace transform; important Laplace transform pairs; important theorems of the Laplace transform; application of Laplace transform to the solution of linear ordinary differential equations; the transfer function of linear systems; the Ward-Leonard electromechanical system; inverse Laplace transform by partial-fraction expansion: simple poles and multiple-order poles;  canonical responses; Dirac impulse; convolution integral; first order system step response; second order system step response. Frequency Domain Analysis: frequency response and relationship with  transfer function; deriving the impulse response from the frequency response; Bode plots; polar plots (Nyquist plots);  magnitude-phase plot (Nichols plots). Nyquist criterion; gain margin and phase margin. Compensation networks (integration network, derivation network, phase-lead network, phase-lag network, lead-lag network) and their diagrams (Bode and Nyquist plots); design with phase-lag controller,  phase-lead controller; pole-zero cancellation; design with lead-lag controller.

Readings/Bibliography

G. MARRO, CONTROLLI AUTOMATICI, QUINTA EDIZIONE CON CD-ROM, ZANICHELLI, BOLOGNA, 2004

M.E. Penati,  G. Bertoni, S. Simonini: Automazione e sistemi di controllo.Esculapio, Bologna, 2010

 M.E Penati, S. Simonini: Automazione e sistemi di controllo. Esercizi e test commentati e risolti. Esculapio, Bologna, 2011

G. FRANKLIN, J.D. POWELL, ABBAS EMAMI-NAEINI, FEEDBACK CONTROL OF DYNAMIC SYSTEMS: 5/E, INT'L EDITION, PEARSON-PRENTICE HALL, UPPER SADDLE RIVER, NJ, 2006, ISBN: 0131499300

R. C. DORF, R.H. BISHOP, MODERN CONTROL SYSTEMS: 10/E, PRENTICE HALL, 2005, ISBN: 0-13-145733-0

B. KUO, AUTOMATIC CONTROL SYSTEMS: 7/E, PRENTICE HALL, ENGLEWOOD CLIFFS, NJ, 1995

 

Teaching methods

Classroom lessons with individuation of the fundamental subjects of the course 

Practice sessions during the discussion of the relative theoretical subjects

Assessment methods

Written test concerning parts A and B

Teaching tools

Overhead projector and PC

Tools for computer aided contro system design.

Office hours

See the website of Maria Elisabetta Penati

See the website of Elena Zattoni