The course is taught in English. The course provides tools for analysis and design of digital control systems. Both standard and advanced digital control design methodologies and architectures are introduced.

By the end of this course, students will gain the following knowledge and skill: - Skill in analyzing the dynamics of discrete-time, sampled-data, digital systems by means of models in the discrete-time and/or frequency domains. - Knowledge of the digital control system requirements. - Knowledge of the basic digital control approaches and of the related design methodologies. - Skill in designing digital controller through basic methodologies. - Knowledge of the main technological and numeric problems in the sampled-data control systems. - Knowledge of advanced digital control methodologies such as adaptive control and model predictive control. - Skill in designing digital control systems by means of adaptive control and model predictive control techniques. - Skill in evaluating control performance by numerical simulation.

Knowledge of basic concepts on linear Idynamic systems such as state space and transfer function representations and stability. Knowledge of basic concepts on feedback control systems analysis and design. Skill in designing basic control devices through both time domain (e.g. state feedback) and frequency domain (e.g. loopshaping) approaches. Knowledge of signal and sampling theory fundamentals. Basic skill of Matlab and Simulink.

- Analysis of discrete time, sampled data and digital systems (15 hr) - Control requirements, structures and architectures of digital control systems (6 hr) - Digital controller design through analytic approaches (15 hr) - Realization of digital controllers (3 hr) - Adaptive control fundamentals (6 hr) - Model Predictive Control fundamentals(15 hr)

Theoretical and methodological lessons will be delivered together with example developments by face-to-face instruction in the classroom. Computer laboratory activities are aimed at developing the student’s skill through proper training. Each student is supposed to practice individually with the aid of laboratory work stations. The primary purpose of the laboratory exercises is to apply the methodologies presented in class, through the use of MatLab and Simulink. During the last week of the course, an exam simulation in the laboratory will be offered.

The main reference textbooks are: (1) K.J. Åström, B. Wittenmark, 'Computer-controlled systems', Prentice-Hall, 1997. (2) G.F. Franklin, J.D. Franklin and M. Workman, Digital control of dynamic systems, Addison Wesley,1997. (3) K.J. Åström, B. Wittenmark, 'Adaptive control', Addison-Wesley, 1995. (4) J.B. Rawlings, D.Q. Mayne, Model Predictive Control: Theory and Design, Nob-Hill Publishing, 2009. (5) F. Borrelli, A Bemporad, M. Morari, Predictive Control for Linear and Hybrid systems, Cambridge University Press, 2017. Lecture slides will be available on “Portale della didattica” as well as laboratory practice handouts.

Modalità di esame: Test informatizzato in laboratorio;

Exam: Computer lab-based test;

... Written exam in computer laboratory lasting 3 hours divided into three parts. Part I. 2 multiple choice problems for each 4 possible answers are shown, only one of which is correct (maximum score: 6/30). Exact answer: 3 points, wrong answer: -1 point, missing answer: 0 points. Comments on the solution must be provided too: in the absence of any comments a null score is given even in the presence of the correct answer. The goal of this first part of the exam is to verify the understanding of the fundamental theoretical topics of digital control systems. Part II. 1 “open” question on conceptual topics (maximum score: 10/30). The goal of this part of the exam is to verify the student ability to properly express and elaborate either theoretical issues or conceptual problems. Part III. 1 digital control design problem (maximum score: 17/30). The goal of this part of the exam is to verify the student skinless in designing a digital control system. A well motivated detailed report on the employed design procedure is required. The final grade is the sum of the scores achieved in the three parts. During the exam it is allowed to use a formulary provided by the instructor. Detailed instructions and rules will be presented during the course.

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.

Modalità di esame: Prova scritta tramite l'utilizzo di vLAIB e piattaforma di ateneo;

Written test using the vLAIB and Exam platform integrated with the proctoring tool Respondus, lasting 2 hours and divided into two parts. Part I. 4 or 5 multiple choice problems. For each problem, 4 possible answers are shown, only one of which is correct. Each problem has a different score based on its difficulty. The maximum score of this part is 17/30. Every exact answer leads to the full score, for every wrong answer a penalty corresponding to the 25% of the ful score is subtracted, every missing answer leads to null score. The goal of this part is to verify the understanding of the fundamental theoretical topics of digital control systems. Part II. 1 digital control design problem (maximum score: 17/30). The goal of this part is to verify the student skilness in designing a digital feedback control system using different approaches, i.e. algebraic methods and Model Predictive Control procedures. Evidence of the design procedure must be provided in the terms of the matlab files developed for the design and a text document that reports the main steps of the design. The final grade is the sum of the scores achieved in the two parts. A mark of 30L/30 is given if the final score is greater or equal than 33. During the exam it is allowed to use a formulary provided by the instructor. Detailed instructions and rules will be presented during the course.

Modalità di esame: Test informatizzato in laboratorio; Prova scritta tramite l'utilizzo di vLAIB e piattaforma di ateneo;

In both online and onsite modality the exam consists in a written test lasting 2 hours divided into two parts: Part I. 4 or 5 multiple choice problems. For each problem, 4 possible answers are shown, only one of which is correct. Each problem has a different score based on its difficulty. The maximum score of this part is 17/30. Every exact answer leads to the full score, for every wrong answer a penalty corresponding to the 25% of the ful score is subtracted, every missing answer leads to null score. The goal of this part of the exam is to verify the understanding of the fundamental theoretical topics of analysis and design of feedback control systems. Part II. 1 digital control design problem (maximum score: 17/30). The goal of this part is to verify the student skilness in designing a digital feedback control system using different approaches, i.e. algebraic methods and Model Predictive Control procedures. Evidence of the design procedure must be provided in the terms of the matlab files developed for the design and a text document that reports the main steps of the design. The final grade is the sum of the scores achieved in the two parts. A mark of 30L/30 is given if the final score is greater or equal than 33. During the exam it is allowed to use a formulary provided by the instructor. In the online modality, the exam is given using the vLAIB and Exam platform integrated with the proctoring tool Respondus. In the onsite modality, the exam is given in Laib using the Exam platform. Detailed instructions and rules will be presented during the course.