


Politecnico di Torino  
Academic Year 2014/15  
04LSLLO Automatic control 

Master of sciencelevel of the Bologna process in Automotive Engineering  Torino 





Subject fundamentals
The course addresses the fundamentals of dynamical systems analysis and of the design of simple analog and digital feedback controllers.

Expected learning outcomes
 Knowledge of the concept of dynamical system together with its mathematical representations such as state equations and transfer functions.
 Skill in deriving mathematical models of dynamical systems.  Skill in computing the solution of the system state equations.  Skill in evaluating the behavior of a dynamical system through numeric simulation.  Knowledge of structural properties (stability, reachability, observability) of dynamical systems.  Knowledge of the concept of feedback control of dynamical systems.  Skill in designing feedback controllers via (estimated) state feedback.  Knowledge of the main performance requirements of feedback systems.  Knowledge of the main feedback system analysis techniques based on harmonic tools.  Skill in analyzing the stability and the performances of feedback control systems.  Knowledge about industrial controllers (PID).  Knowledge about sampled data control systems and realization through digital filters.  Skill in designing sampled data control systems.  Skill in evaluating the behavior and performances of controlled systems through numerical simulation. 
Prerequisites / Assumed knowledge
Requirements: differential and integral calculus of vector valued real functions, basic concepts of physics mechanics, electric circuits, complex numbers, real rational functions, linear algebra.

Contents
 Introduction to dynamical systems.
 Modeling and state space description.  Solution of state equations.  Modal analysis  Stability of linear systems.  Block algebra.  Reachability (controllability) and observability.  Introduction to feedback control.  Control through feedback of the estimated states  Bode, polar and Nyquist diagrams.  Nyquist stability criterion.  Stability margins.  Feedback systems response due to polynomial inputs; steady state tracking errors, disturbance attenuation and rejection.  Time and frequency response of first and second order systems.  Feedback systems performance: transient and steady state.  Industrial controllers (PID).  Discretetime systems. Analysis and design of sampled data control systems. 
Delivery modes
The course includes several LAB exercises (about 15 hours), carried out by means of MATLAB tools (with Control system toolbox, Simulink). These LAB sessions are centered on the development of academic and applicative examples, some of which are taken from the automotive field.

Texts, readings, handouts and other learning resources
G.F. Franklin, J.D. Powell, A. EmamiNaeini, Feedback Control of Dynamic Systems, Prentice Hall, 2009.
Nise, Control systems engineering, Wiley, 4th ed., 2004. K. Ogata, Modern Control engineering, Prentice Hall, 4th ed., 2004. G. Calafiore, Elementi di Automatica, CLUT, 2007. Lecture slides are available as well as laboratory practice handouts. 
Assessment and grading criteria
Written examination (carried out with the help of the PC and the MATLAB software) with multiple choice and design exercises. Duration of the exam: 2 hours. Allowed material: a unique A4 sheet with formulas (no exercise solutions or MATLAB programs are allowed); tables with Laplace transforms.

