


Politecnico di Torino  
Anno Accademico 2009/10  
02MBOJA System and control theory 

Corso di Laurea in Electronic And Computer Engineering  Vercelli 





Obiettivi dell'insegnamento
The first part of this course provides the students with the basic notions of dynamical systems theory, both linear and nonlinear, using state variables techniques. Topics range from physical modelling to numerical simulation, analysis of stability, reachability and observability, and design of state observers and feedback regulators. A second part of the course focuses on the frequencydomain representation of linear time invariant systems, and provides the student with the ability of analyzing classical specifications for automatic control systems (such as Bode plots, Nyquist stability criterion, time domain characteristics, reference following, disturbance rejection, robustness, etc.) and the skills for designing simple feedback controllers.

Competenze attese
The student will acquire abilities to model simple dynamical systems (of different natures, such as mechanical, electrical, electromechanical, thermal, hydraulic, etc.) into statespace or frequencydomain form, and understand the qualitative and quantitative behaviour of such systems. The student will acquire the basic techniques to control the behaviour of dynamical systems by designing appropriate 'automatic control laws,' that is rules for automatically tuning the manipulable input signals of the system from output measurements, with the objective of obtaining desirable behaviour in terms of reference following, disturbance rejections, bandwidth, etc.

Prerequisiti
Calculus, Linear Algebra, Signals and transforms, basic notions of physics and electrical circuits.

Programma
Dynamical systems models:
examples of mechanical structures, electrical networks, electromechanical systems, thermal exchange, etc. Continuos and discrete time signals and their transforms State variable representation and system classification Numerical simulations for nonlinear systems Linearization of state equations Lyapunov stability theory Linear systems Reachabiliy and observability of linear systems Design of statefeedback regulators Design of state observers Regulation via dynamic output feedback Analysis of LTI systems in the complex domain. Transfer functions and frequency response Bode diagrams, Polar plots and Nyquist diagrams Stability analysis for feedback systems, the Nyquist criterion Robustness margins The classical control loop Reference signals, outputs, disturbances, measurement noise, tracking errors and the relative closed loop transfer functions Sensitivity S, complementary sensitivity T and control effort CS Stationary and low frequency de sign specifications Frequencydomain specifications on S, T and CS Timedomain specifications on transient response Structural limits of control architectures Synthesis of lead, lag and leadlag compensators Synthesis of notch filters Standard PID regulators Examples and case studies of complete control designs. 
Laboratori e/o esercitazioni
The course includes practise sessions and lab activity for numerical simulations and computer aided design using Matlab and Simulink.

Bibliografia
Textbooks
Franklin, Powell, EmamiNaeini, Feedback Control of Dynamic Systems, PrenticeHall. G. Calafiore, Elementi di Automatica, Seconda edizione; CLUT, Torino, 2007. G. Calafiore, Appunti di Controlli Automatici; CLUT, Torino, 2005. 
Controlli dell'apprendimento / Modalità d'esame
Written examination. Students may consult the textbooks and personal notes, and may use a scientific calculator. An oral examination may follow the written one, upon instructor's request.

Orario delle lezioni 
Statistiche superamento esami 
