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Modeling and control of cyberphysical systems

01UDSOV

A.A. 2022/23

Course Language

Inglese

Course degree

Master of science-level of the Bologna process in Ingegneria Informatica (Computer Engineering) - Torino

Course structure
Teaching Hours
Lezioni 40
Esercitazioni in laboratorio 20
Teachers
Teacher Status SSD h.Les h.Ex h.Lab h.Tut Years teaching
Regruto Tomalino Diego Professore Associato ING-INF/04 25 0 25 0 3
Teaching assistant
Espandi

Context
SSD CFU Activities Area context
ING-INF/04 6 B - Caratterizzanti Ingegneria informatica
Valutazione CPD 2021/22
2021/22
Cyber-Physical Systems (CPS) are complex engineering systems integrating physical processes with computation, communication and control. CPS are typically composed by a number of spatially distributed system components and/or subsystems exchanging information through communication networks. The inherent distributed and networked structure of CPS poses new control design challenges. As a matter of fact, the designed feedback control loops has to guarantee robustness against (i) uncertainty in the mathematical model of the physical process, (ii) adversarial network attacks and (iii) networked-induced delays and perturbations. Furthermore, decentralized control design techniques has to exploited in order to fulfill global performance requirements of CPSs by exploiting sensor information locally available in each subsystem. The aim of the proposed course is to provide the students with tools for modeling and control of CPSs.
Cyber-Physical Systems (CPS) are complex engineering systems integrating physical processes with computation, communication and control. CPS are typically composed by a number of spatially distributed system components and/or subsystems exchanging information through communication networks. The inherent distributed and networked structure of CPS poses new control design challenges. As a matter of fact, the designed feedback control loops has to guarantee robustness against (i) uncertainty in the mathematical model of the physical process, (ii) adversarial network attacks and (iii) networked-induced delays and perturbations. Furthermore, decentralized control design techniques has to exploited in order to fulfill global performance requirements of CPSs by exploiting sensor information locally available in each subsystem. The aim of the proposed course is to provide the students with tools for modeling and control of CPSs.
At the end of the course, the student will know the main paradigms of CPSs and will be able to design and control a basic CPS. Specifically, she/he will learn how to: - mathematically model a CPS; - describe and predict the behavior of a CPS; - control the behavior of a CPS; - implement the theoretical notions in real-world CPS applications.
At the end of the course, the student will know the main paradigms of CPSs and will be able to design and control a basic CPS. Specifically, she/he will learn how to: - mathematically model a CPS; - describe and predict the behavior of a CPS; - control the behavior of a CPS; - implement the theoretical notions in real-world CPS applications.
Linear Algebra, Linear system theory, Automatic Control, basic notions of Convex Optimization.
Linear Algebra, Linear system theory, Automatic Control, basic notions of Convex Optimization
- Introduction to CPSs: general definition and motivations. Real-world examples of CPSs. - Modeling paradigm for CPSs: introduction to distributed networked dynamical systems. - Modeling of the physical process part of CPSs by means of Set-membership system identification techniques. Characterization of model uncertainty. - Analysis of critical aspects of distributed networked dynamical systems: adversarial network attacks, networked-induced delays and perturbations. - Review of observer design for linear systems. - Review of observer-based output feedback regulation of linear systems. - Sparse signal recovery. - Distributed/decentralized control (DC): observer-based decentralized control structure. - Networked control systems: stability in presence of networked-induced delays and perturbations. - Secure estimation and control of CPS in presence of sensor and actuator networks signals attacks: motivation and problem formulation. - Output regulation approach to secure estimation and control of CPS based on sparse signal recovery.
- Introduction to CPSs: general definition and motivations. Real-world examples of CPSs. - Modeling paradigm for CPSs: introduction to distributed networked dynamical systems. - Modeling of the physical process part of CPSs by means of Set-membership system identification techniques. Characterization of model uncertainty. - Analysis of critical aspects of distributed networked dynamical systems: adversarial network attacks, networked-induced delays and perturbations. - Review of observer design for linear systems. - Review of observer-based output feedback regulation of linear systems. - Sparse signal recovery. - Distributed/decentralized control (DC): observer-based decentralized control structure. - Networked control systems: stability in presence of networked-induced delays and perturbations. - Secure estimation and control of CPS in presence of sensor and actuator networks signals attacks: motivation and problem formulation. - Output regulation approach to secure estimation and control of CPS based on sparse signal recovery.
The course consists of a theoretical part (mathematical modeling, optimization, theory of distributed systems) alternated with practical examples and implementation. For each theoretical concept, related real-world case studies are proposed (e.g., smart grids, autonomous vehicles, distributed manufacturing systems).
The course consists of a theoretical part (mathematical modeling, optimization, theory of distributed systems) alternated with practical examples and implementation. For each theoretical concept, related real-world case studies are proposed (e.g., smart grids, autonomous vehicles, distributed manufacturing systems).
Since the considered topics are quite recent, main learning resources are: - Slides and lectures notes provided by the teachers - Selected scientific papers Supplementary material: - some parts of the course refer to the book Cyber-Physical Systems: From Theory to Practice, D. B. Rawat, J. J.P.C. Rodrigues, I. Stojmenovic, 1st ed. 2016, CRC Press - for a gentle introduction to CPSs: Industry 4.0: The Industrial Internet of Things, A. Gilchrist, 2016, Apress
Since the considered topics are quite recent, main learning resources are: - Slides and lectures notes provided by the teachers - Selected scientific papers Supplementary material: - “Distributed Optimization for Smart Cyber-Physical Networks”, G. Notarstefano, I. Notarnicola, A. Camisa, Foundations and Trends in Systems and Control, 2019 - “Principles of Cyber-Physical Systems”, R. Alur, MIT Press, 2015 - “Cyber-Physical Systems: Foundations, Principles and Applications” - AP Elsevier, 2016 - “Cyber-Physical Systems: From Theory to Practice”, D. B. Rawat, J. J.P.C. Rodrigues, I. Stojmenovic, 1st ed. 2016, CRC Press - “Introduction to Embedded Systems - A Cyber-Physical Systems Approach”, E. A. Lee and S. A. Seshia, MIT Press, 2016 - “Cooperative Control of Multi-Agent Systems”, Lewis, F.L., Zhang, H., Hengster-Movric, K., Das, A., Springer, 2014
Modalità di esame: Prova orale obbligatoria; Elaborato progettuale in gruppo;
Exam: Compulsory oral exam; Group project;
Gli studenti e le studentesse con disabilità o con Disturbi Specifici di Apprendimento (DSA), oltre alla segnalazione tramite procedura informatizzata, sono invitati a comunicare anche direttamente al/la docente titolare dell'insegnamento, con un preavviso non inferiore ad una settimana dall'avvio della sessione d'esame, gli strumenti compensativi concordati con l'Unità Special Needs, al fine di permettere al/la docente la declinazione più idonea in riferimento alla specifica tipologia di esame.
Exam: Compulsory oral exam; Group project;
The exam consists of two parts. The first part is an oral interview where students are required to answer questions about the entire content of the course. The duration of the oral interview is about 1 hour; students are not allowed to use neither books nor lecture notes. The oral interview mainly focusses on the theoretical aspects of the course. The maximum score for this part is 20 points. In the second part a group project activity is assigned in order to check the ability of the students to apply the tools and results presented in the lectures to real-world case studies. The maximum score for this part is 10 points.
In addition to the message sent by the online system, students with disabilities or Specific Learning Disorders (SLD) are invited to directly inform the professor in charge of the course about the special arrangements for the exam that have been agreed with the Special Needs Unit. The professor has to be informed at least one week before the beginning of the examination session in order to provide students with the most suitable arrangements for each specific type of exam.
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