Select Academic Year:     2016/2017 2017/2018 2018/2019 2019/2020 2020/2021 2021/2022
Professor
ALESSANDRO PISANO (Tit.)
Period
First Semester 
Teaching style
Convenzionale 
Lingua Insegnamento
ITALIANO 



Informazioni aggiuntive

Course Curriculum CFU Length(h)
[70/84]  ENERGETIC ENGINEERING [84/00 - Ord. 2018]  PERCORSO COMUNE 6 60
[70/85]  MECHANICAL ENGINEERING [85/00 - Ord. 2019]  PERCORSO COMUNE 6 60

Objectives

Knowledge and understanding:
develop the knowledge of the structural properties and design methodologies of linear feedback-controlled dynamical systems, and the ability to understand the energetic and design implications.

Applying knowledge and understanding:
capability to detect energetic phenomena in dynamical systems aiming at their modeling for control purposes.

Making judgments:
develop the ability to critically and synergistically use various tools of analysis and design of feedback dynamical systems.

Communication skills:
capability to clearly express technical concepts.

Learning skills:
knowing how to integrate knowledge from different sources to deepen the understanding of the main phenomena taking place in feedback-controlled physical systems

Prerequisites

To profitably attend the Automatic Control course, the student has to possess adequate knowledge of basic mathematical tools such as algebraic and integral/differential calculus. In addition, basic knowledge about linear time-invariant differential equations is required. No propaedeutic exams are required.

Contents

The course includes a total of 60 hours of lectures and practical work, and it is articulated into the distinct topics listed hereinafter. The total number of hours for each topic is split between lectures (L), computer exercises (CE) and laboratory activities (LAB)

Generalities. (12 hrs: 12L)
Meaning and parameters of a transfer function. Linear time-invariant (LTI) systems. Input-outptu and state-space models. Stability. Fundamental theorems of the Laplace transform. Routh-Hurwitz criterion. Step responses of first and second order LTI systems. Linearization of nonlinear dynamical systems.

Root Locus. (6 hrs: 4L+2CE)
Meaning and construction rules. Calibration. Equation of double points. Examples of root locus construction and analysis.

Active and passive suspensions for vehicles (4 hrs: 4L)
Generalities. Quarter car, half-car and full-car models. Control of active suspensions. Improvement of passenger comfort and handling. Semi-active suspensions.

Steady-state and transient specifications (8 hrs: 6L+2CE)
Control systems of type 0,1 and 2. Steady state precision and disturbance rejection. Internal model principle. Relationships between transient specifications, crossover frequency and phase margin.

Delay systems (4 hrs: 3L+1CE)
Examples. Closed-loop stability. Smith predictor.

Controller design (19 hrs: 14L+5CE)
Root-locus based design. Direct Synthesis. PID based design. PID tuning. PI-D and I-PD configurations. Advanced control structures: Anti wind-up controllers; Cascade control; Feedforward control. Override. Ratio control. Modern synthesis in the state-variables domain. Control systems representation via P&I diagrams.

PLC based automation (4 hrs: 2L+2CE)
Generalities. Ladder programming. Sequential functional chart (SFC) programming.

Laboratory work (3 hrs: 3LAB)
PC-based control of a DC motor.

Contents

The course includes a total of 60 hours of lectures and practical work, and it is articulated into the distinct topics listed hereinafter. The total number of hours for each topic is split between lectures (L), computer exercises (CE) and laboratory activities (LAB)

Generalities. (12 hrs: 12L)
Meaning and parameters of a transfer function. Linear time-invariant (LTI) systems. Input-outptu and state-space models. Stability. Fundamental theorems of the Laplace transform. Routh-Hurwitz criterion. Step responses of first and second order LTI systems. Linearization of nonlinear dynamical systems.

Root Locus. (6 hrs: 4L+2CE)
Meaning and construction rules. Calibration. Equation of double points. Examples of root locus construction and analysis.

Active and passive suspensions for vehicles (4 hrs: 4L)
Generalities. Quarter car, half-car and full-car models. Control of active suspensions. Improvement of passenger comfort and handling. Semi-active suspensions.

Steady-state and transient specifications (8 hrs: 6L+2CE)
Control systems of type 0,1 and 2. Steady state precision and disturbance rejection. Internal model principle. Relationships between transient specifications, crossover frequency and phase margin.

Delay systems (4 hrs: 3L+1CE)
Examples. Closed-loop stability. Smith predictor.

Controller design (19 hrs: 14L+5CE)
Root-locus based design. Direct Synthesis. PID based design. PID tuning. PI-D and I-PD configurations. Advanced control structures: Anti wind-up controllers; Cascade control; Feedforward control. Override. Ratio control. Modern synthesis in the state-variables domain. Control systems representation via P&I diagrams.

PLC based automation (4 hrs: 2L+2CE)
Generalities. Ladder programming. Sequential functional chart (SFC) programming.

Laboratory work (3 hrs: 3LAB)
PC-based control of a DC motor.

Teaching Methods

The course includes a total of 60 hours of lectures and practical work, more precisely, 45 hours of lectures and 15 hours of computer-based exercises and laboratory work. The lectures are normally carried out by showing and commenting on PowerPoint slides which are made available to the students. The exercises consist of solving analysis and design tasks and are carried out also by means of computer simulations using the dynamical simulation software "Matlab-Simulink." Within a total of 15 hours, there are 3 hours of laboratory work during which activities are carried out using experimental laboratory apparatus.

Verification of learning

Passing the exam is achieved in two different ways:
1. an oral interview;
2. the preparation of a written report.

As for the interview, the first question concerns the resolution of an exercise of analysis or design, while the two last questions involve a discursive illustration of certain arguments from the program. Depending on the quality level of the answer, to every question, a score ranging from 0 to 10 is assigned, and the final grade is determined by the sum of the marks obtained in the individual questions. The type of questions/exercises is chosen so as to verify the actual acquisition of the learning results, in agreement with the guidelines previously exposed.
Concerning the written report, it previews that a concrete control problem is analyzed and solved in its entirety (starting from the mathematical modeling, and then the preparation of specifications, the design of controllers using at least two different methodologies seen in the course, the simulation with the software Matlab Simulink and the execution and critical discussion of a performance comparison between the different approaches, comprising also the inclusion of nonideality effects such as measurement noise, or sensor/actuator dynamics. The written report is exposed to the teacher during a short interview during which the student summarizes the content and results, and clarifies doubts formulated by the teacher. Such a structure allows the almost complete verification of the actual acquisition of the learning outcomes in accordance with the guidelines set out above. Voting is attributed to the report by adding together the votes obtained separately for the several parts: modeling, controller design (with the various approaches), simulations, and critical analysis of the results. The final grade is the sum of the scores obtained in the various parts.

Texts

Farid Golnaraghi and Benjamin C. Kuo
“Automatic Control Systems – 9th edition”, Wiley, 2010.

Carlos A. Smith
“Automated Continuous Process Control”, Wiley, 2002.

More Information

Within the teacher's web page there is a section specifically dedicated to the course, from which the course’s material can be downloaded and where general organization information is given as well.
The lectures are performed by showing and commenting on slides, prepared by the teacher, downloadable from the course website. With reference to approximately half of the program, there have been developed by the teacher, and made available within the web page of the course, handouts suitable for home study. It is also available on the course website a set of exercises with a sketch of the solution.

Questionnaire and social

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