

Riga 2: 
Riga 2: 
 {{DeCicco}}   {{DeCicco}} 
   
−  ==Fundamentals of Control Systems I ==  +  ==Fundamentals of Control Systems (First module) == 
−  '''Ingegneria Elettronica A.A. 2008/2009 and A.A. 2009/2010 '''  +  '''Ingegneria Informatica e dell'Automazione (AK) A.A. 2017/2018 ''' 
   
 ===Course Outline===   ===Course Outline=== 
Revisione 10:38, 31 Ott 2017
Fundamentals of Control Systems (First module)
Ingegneria Informatica e dell'Automazione (AK) A.A. 2017/2018
Course Outline
First Part
 Basic concepts: an introduction to feedback control. Definitions of system, signals, inputs and outputs. Control system goals. Inputs and disturbances. The reference signal. The error signal. Control and regulation. Introduction to basic control techniques: openloop and closedloop control. Examples. The basic components of a feedback control system: input filter, controller, actuator, sensor and plant. Examples.
 Modelling of dynamic systems: Mathematical models taxonomy. Static systems, dynamic systems. Causality. Linear and nonlinear systems. Timevariant and timeinvariant systems. Mathematical models of basic systems: mechanic systems (massspring damper model, quarter car), electrical systems, water tank systems, thermal systems. Linearization of a nonlinear system around the equilibrium (water tank system example). Linear time invariant systems (LTI): linear differential equations with constant coefficients. Solution of linear differential equations with constant coefficients: free evolution and forced response. The initial conditions problem.
 Laplace Transform: Test signals: step, ramp, parabolic ramp, Dirac delta (impulse), finite duration impulse, sinusoid. Laplace transform, properties and theorems. Convolution integral. Antitransformation techniques. Ltransform to find the complete response of an LTI system.
 Basic block diagrams reduction techniques: Basic block interconnections: series, parallel, feedback. Moving summing junctions. Moving branch points. Examples.
 Examples of LTI systems modelling. Electrical networks: integrator, derivative, lead, lag, leadlag. Speed control of DC electric motor.
 Analysis in the complex variable domain. Free evolution and the initial value problem. The forced response and the transfer function. The polezero map and the impulse response time evolution. Firstorder and secondorder systems: forced response to impulse, step and ramp. Influence of a zero on the step response of a first order and second order system. Transient response specifications: delay time, rise time, settlingtime, peak time, maximum overshoot.
Second Part
 Stability analysis. Lyapunov definition of equilibrium stability. Definitions and fundamental theorems of stability for LTI systems. BIBO stability. Routh Lemma (necessary condition) and RouthHurwitz criterion. Special cases in the construction of the Routh table. Examples.
 Properties of closedloop systems. Steady state error in unitaryfeedback control systems. Error coefficients (position, velocity, acceleration). The generalization to the nonunitary feedback control systems. Disturbance rejection in openloop and closedloop systems. Feedforward compensation. Sensitivity to parametric variations in the transfer function of the forward branch and feedback branch. The sensitivity function.
 Root locus. Root locus and complementary root locus. General rules to construct the root loci. Root locus for control system design (basic concepts). Examples.
Suggested Books
 P. Bolzern, R. Scattolini, N. Schiavone, "Fondamenti di Controlli Automatici", McGraw Hill, Seconda Edizione, 2004
 G.F. Franklin, J. D. Powell, A. E. Naeini, "Feedback Control of Dynamic Systems", ISBN 9780131499300, Fifth Edition, Prentice Hall, 2005