Politecnico di Torino
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Politecnico di Torino
Academic Year 2017/18
01QYEQW
Laboratory of robust identification and control
Master of science-level of the Bologna process in Mechatronic Engineering - Torino
Teacher Status SSD Les Ex Lab Tut Years teaching
Regruto Tomalino Diego ORARIO RICEVIMENTO A2 ING-INF/04 30 0 30 0 7
SSD CFU Activities Area context
ING-INF/04 6 B - Caratterizzanti Ingegneria dell'automazione
Esclusioni:
03MIQ
Subject fundamentals
The aim of this course is to develop studentsí ability to apply advanced methods for robust system identification and control of uncertain systems to real-world engineering problems. Through the analysis of a number of case studies and a set of suitable laboratory activities (both software and experimental) the students will be offered the opportunity to face a number of problems arising while applying robust system identification and control theory and algorithms to real-world problems. Main theoretical results in robust system identification and control will be introduced/reviewed in the first part of the course.
Expected learning outcomes
The aim of the course is to make available to the students the knowledge of the following topics:

- Methods and algorithms for building mathematical models of real-world dynamical systems from sets of noise-corrupted experimental data focusing in particular on system identification techniques devoted to the quantification of the model uncertainty (set-membership identification).

- Methods and algorithms for the design of robust controllers for system affected by uncertainty.

- Software and Hardware tools and methods for rapid prototyping of control systems.

Students are expected to develop the following skills:

- Ability to derive the mathematical model of a dynamical system from sets of noise-corrupted data collected by performing suitable experiments on a real plant, though the application of modeling and identification tools/algorithms.

- Ability to design a robust control system able to guarantee fulfillment of the prescribed performance requirements on the real plant, through the application of robust control methods and algorithms.

- Ability to practically implement and test on a real plant the designed robust control system by exploiting suitable software/hardware tools for rapid prototyping.
Prerequisites / Assumed knowledge
Students are assumed to own adequate knowledge of the following preliminary subjects:

- Basic facts on mathematical analysis, linear algebra, differential/difference equations, Laplace/Fourier/Zeta transform

- Basic facts on systems and control theory

The course will also make explicit reference to the content of the lessons of the course "Modern Design of Control Systems" that will be taught to the students in parallel to the course of Laboratory of robust identification and control.
Contents
The course will focus on the following main subjects:

- Fundamental principles of set-membership identification theory [about 15 hours]

- Review of basic facts on robust control theory for uncertain systems (Hinfinity control, mu-analysis and synthesis) [about 10 hours]

- Fundamental notions about hardware/software tools for rapid prototyping of control systems (MATLAB real-time toolbox, LAbview, National Instrument PXI) [about 10 hours]

- Application of set-membership identification and robust control methods and algorithms to real-world case studies and/or laboratory processes [about 25 hours].
Delivery modes
A significant part of the course subjects will be taught by means of suitable software and experimental laboratory activities.
Texts, readings, handouts and other learning resources
Lecture slides and notes provided by the teacher.
Assessment and grading criteria
The assessment will be performed through a written exam that will take place directly in the lab in order to check studentsí ability to apply robust identification and control techniques to real-world engineering problems.

Programma definitivo per l'A.A.2017/18
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