ITA | ENG
B003851 - FEEDBACK CONTROL SYSTEMS
Main information
Course Content
Suggested readings
Learning Objectives
Prerequisites
Teaching Methods
Type of Assessment
Course program
Academic Year 2012-13
Coorte 2011 - Second Cycle Degree in Computer Engineering
Course year
Second year - Annualità singola
Belonging Department
Information Engineering (DINFO)
Course Type
Single education field course
Scientific Area
-
Credits
9
Teaching Hours
81
Teaching Term
17/09/2012 ⇒ 10/06/2013
Attendance required
No
Type of Evaluation
Final Grade
Course Content
show
Course program
show
Lectureship
Course Content
The course aims to provide mathematical tools dor the analysis and design of feedback control systems.
The main topics are:
1) STABILITY OF FEEDBACK CONTROL SYSTEMS AND STABILIZATION
2) DIRECT SYNTHESIS METHODS
3) SAMPLED-DATA CONTROL SYSTEMS
4) CONTROL DESIGN VIA STATE-SPACE METHODS
5) OPTIMAL CONTROL
6) PERFORMANCE LIMITATIONS OF FEEDBACK CONTROL SYSTEMS AND ROBUST CONTROL
The main topics are:
1) STABILITY OF FEEDBACK CONTROL SYSTEMS AND STABILIZATION
2) DIRECT SYNTHESIS METHODS
3) SAMPLED-DATA CONTROL SYSTEMS
4) CONTROL DESIGN VIA STATE-SPACE METHODS
5) OPTIMAL CONTROL
6) PERFORMANCE LIMITATIONS OF FEEDBACK CONTROL SYSTEMS AND ROBUST CONTROL
Suggested readings (Search our library's catalogue)
Notes available at the URL http://www.dsi.unifi.it/users/chisci/fda/Compiti/Sistemi-di-Controllo/
Basso, Chisci, Falugi. Fondamenti di Automatica, De Agostini-UTET, 2007.
Bolzern, Scattolini, Schiavoni. Fondamenti di Controlli Automatici (seconda edizione). McGraw-Hill, 2004
Doyle, Francis, Tannenbaum. Feedback Control Theory. Maxwell McMillan, 1992
Goodwin, Graebe, Salgado. Control System Design. Prentice-Hall, 2001.
Isidori. Sistemi di Controllo: seconda edizione, Vol. I. Siderea, Roma, 1993.
Basso, Chisci, Falugi. Fondamenti di Automatica, De Agostini-UTET, 2007.
Bolzern, Scattolini, Schiavoni. Fondamenti di Controlli Automatici (seconda edizione). McGraw-Hill, 2004
Doyle, Francis, Tannenbaum. Feedback Control Theory. Maxwell McMillan, 1992
Goodwin, Graebe, Salgado. Control System Design. Prentice-Hall, 2001.
Isidori. Sistemi di Controllo: seconda edizione, Vol. I. Siderea, Roma, 1993.
Learning Objectives
To provide mathematical tools for the analysis and design of feedback control systems to be applied to the solution of practical engineering control problems.
Prerequisites
Math analysis.
Linear algebra.
Elements of control engineering.
Linear algebra.
Elements of control engineering.
Teaching Methods
Lectures and practice in class.
Type of Assessment
Written test and oral exam.
Course program
1. INTRODUCTION
Background on linear system theory. The internal model principle and its applications.
2. STABILITY OF FEEDBACK CONTROL SYSTEMS AND STABILIZATION
Internal stability: definition, mathematical conditions and connection with the Nyquist criterion. Characterization of stabilizing controllers: case of stable process and general case.
3. DIRECT SYNTHESIS TECHNIQUES
Choice of the closed-loop transfer function. Controller design meeting desired control specifications. Hints on multiobjective direct synthesis.
4. SAMPLED-DATA SYSTEMS
Sampling and reconstruction of signals. Discretization of a continuous-time linear time-invariant process. Analysis of the dynamic behaviour via z-transform. Design of digital controllers. Controller discretization techniques.
5. REGULATOR PROBLEM
Background on state-space representations. Observability and controllability. Static state feedback and eigenvalue/pole placement. Asymptotic state observers. Regulator design. Stabilization via state-space methods. Internal model regulator. Design of linear regulators for nonlinear processes via process linearization.
6. OPTIMAL CONTROL
Optimal control problem statement: dynamic programming and Hamilton-Jacobi-Bellman equation. Linear Quadratic (LQ) regulator on a finite control horizon for discrete-time systems. Infinite-horizon LQ regolators. LQ regulators for continuos-time systems. Riccati equations, return-difference identities and spectral factorization equations for both discrete-time and continuous-time infinite-horizon LQ regulator design. Guaranteed stability margins of the continuous-time LQ static regulator.
7. PERFORMANCE LIMITATIONS ON FEEDBACK CONTROL SYSTEMS AND ROBUST CONTROL
Influence of open-loop right half-plane poles and zeros on the control system bandpass and
step-response. Bode's theorem on the sensitivity function. Robust stability: constraint on the infinity-norm of the complementary sensitivity function.
Background on linear system theory. The internal model principle and its applications.
2. STABILITY OF FEEDBACK CONTROL SYSTEMS AND STABILIZATION
Internal stability: definition, mathematical conditions and connection with the Nyquist criterion. Characterization of stabilizing controllers: case of stable process and general case.
3. DIRECT SYNTHESIS TECHNIQUES
Choice of the closed-loop transfer function. Controller design meeting desired control specifications. Hints on multiobjective direct synthesis.
4. SAMPLED-DATA SYSTEMS
Sampling and reconstruction of signals. Discretization of a continuous-time linear time-invariant process. Analysis of the dynamic behaviour via z-transform. Design of digital controllers. Controller discretization techniques.
5. REGULATOR PROBLEM
Background on state-space representations. Observability and controllability. Static state feedback and eigenvalue/pole placement. Asymptotic state observers. Regulator design. Stabilization via state-space methods. Internal model regulator. Design of linear regulators for nonlinear processes via process linearization.
6. OPTIMAL CONTROL
Optimal control problem statement: dynamic programming and Hamilton-Jacobi-Bellman equation. Linear Quadratic (LQ) regulator on a finite control horizon for discrete-time systems. Infinite-horizon LQ regolators. LQ regulators for continuos-time systems. Riccati equations, return-difference identities and spectral factorization equations for both discrete-time and continuous-time infinite-horizon LQ regulator design. Guaranteed stability margins of the continuous-time LQ static regulator.
7. PERFORMANCE LIMITATIONS ON FEEDBACK CONTROL SYSTEMS AND ROBUST CONTROL
Influence of open-loop right half-plane poles and zeros on the control system bandpass and
step-response. Bode's theorem on the sensitivity function. Robust stability: constraint on the infinity-norm of the complementary sensitivity function.