[1] Computational continuum mechanics, A. A. Shabana, Cambridge Press, 2008.
[2] Dynamics of multibody systems, A. A. Shabana, Cambridge Press, 2005.
[3] F. Cheli, E. Pennestrì, Kinematics and dynamics of multibody systems, Casa Editrice Ambrosiana, 2010.
[4] G. Dhatt, G. Touzot, The finite element method displayed, Wiley & Sons, 1985.
[5] G. Dhatt, G. Touzot, The finite element method, Wiley & Sons, 2012.
[6] O. C. Zienkiewicz, The finite element method, Butterwoth & Heinemann, 2000.
[7] Hassan K. Khalil, Nonlinear Systems, Prentice Hall, 2002.
[8] Bolzern, Scattolini e Schiavoni, Fondamenti di controlli automatici, Mc Graw-Hill Italia, 2008.
[9] G. Marro, Controlli automatici, Zanichelli, 2004.
[10] Joel L. Schiff, The Laplace Transform: Theory and Applications, Springer-Verlag, 2013.
[11] J. F. James, A Student's Guide to Fourier Transforms: With Applications in Physics and Engineering
Cambridge University Press, 2011.
[12] E. W. Hansen, Fourier Transforms: Principles and Applications, John Wiley & Sons, 2014.
[13] K. Hutter, Continuum Methods of Physical Modeling, Springer-Verlag, 2003.
[14] P. Wesseling, Principles of Computational Fluid Dynamics, Springer-Verlag, 2000.
[15] R. Pletcher, J. Tannellini, D. Anderson, Computational fluid dynamics and heat transfer, CRC Press, 2013.
[16] Y. Shtessel, C. Edwards, L. Fridman, A. Levant, Sliding mode control and observation, Birkhauser, 2014.
[17] J. Slotine, W. Li, Applied nonlinear control, Prentice Hall, 1991.
[18] W. Perruquetti, J. Barbot, Sliding mode control in engineering Marcel Dekker, 2002.
[19] C. Edwards, S. Spurgeon, Sliding mode control, Taylor & Francis, 1998.
[20] L. Shampine, M. Reichelt, The MATLAB ODE suite, SIAM Journal of Scientific Computing, 18, 1, 1-22, 1997.
[21] C. Kelley, Iterative Methods for Linear and Nonlinear Equations, SIAM, 1995.
[22] Y. Saad, Iterative Methods for Sparse Linear Systems, SIAM, 2003.
[23] J. Nocedal, Numerical Optimization, Springer-Verlag, 1999.
[24] F. Irgens, Continuum mechanics, Springer-Verlag, 2008.
[25] P. Haupt, Continuum mechanics and theory of materials, Springer-Verlag, 2010.
[26] P. Wriggers, Nonlinear finite element systems, Springer-Verlag, 2008.
[27] A. Ibrahimbegovic, Nonlinear Solid Mechanics, Springer-Verlag, 2009.
[28] O. Bauchau, Flexible multibody dynamics, Springer-Verlag, 2011.
[29] R. Hartley, A. Zisserman. Multiple view geometry in computer vision, Cambridge University Press, 2011.
[30] M. Giaquinta, S. Hildebrandt, Calculus of Variations, Springer-Verlag, 2010.
[31] A. Isidori, Nonlinear Control Systems, Springer-Verlag, 1995.
[32] P. Drazin, Nonlinear Systems, Cambridge University Press, 2008
[33] P. Kokotovic, Constructive Nonlinear Control, Springer-Verlag, 2011.
Obiettivi Formativi
The course will contribute to the following learning objectives specific of the Master Programme:
Knowledge and understanding
cc4: Knowledge of advanced design tools (mechanical, thermo-fluid dynamical, electrical, or multi-physics) for modelling and numerical simulation of components or systems.
cc5: Knowledge of systems and methods for virtual representation, modelling, and 2D and 3D geometric reconstruction.
cc9: Knowledge of vehicles and their technical and design characteristics for the development of sustainable mobility.
Applying knowledge and understanding
ca1: The ability to identify, formulate and solve industrial engineering problems, defining specifications, technical, social, environmental, and commercial constraints.
ca2: The ability to carry out engineering projects, working in a multidisciplinary environment.
ca5: The ability to combine theory and practice to identify and solve multidisciplinary engineering problems, considering constraints, including nontechnical ones.
Making judgements
ag1: The ability to independently analyse data and information, draw objective conclusions and make consequential decisions.
ag3: The ability to identify the need for new knowledge.
Communication skills
ac1: The ability to communicate and transfer information, ideas, problems and solutions to specialists and non-specialists.
ac2: The ability to professionally present problems, solutions, analyses and results through written reports and verbal presentations.
Learning skills
ap1: The capacity for continuous and autonomous learning, and self-updating in the relevant engineering area.
Prerequisiti
Physics 1 (mechanics) and rational mechanics (basic analytical mechanics).
Metodi Didattici
Frontal lessons, seminars, visits to company laboratories and facilities.
Modalità di verifica apprendimento
The student evaluation involves an oral examination (AG1, AG3, AC1, AC2, AP1) and a project on a topic provided by the Professor (AG1, AG3, AC1, AC2, AP1). The oral examination will focus on the various topics explained during the course.
To pass the examination, a good knowledge of the topics covered during the course is required (CA1, CA2, CA5, CC4, CC5, CC9). The student must also demonstrate that he has acquired adequate knowledge of the software modeling tools (CA1, CA2, CA5, CC4, CC5, CC9).
Programma del corso
1. Rigid multibody systems
1.1 Kinematics of the rigid body
1.2 Dynamics of the rigid body and conservation laws
1.3 Force elements and external forces
1.4 Kinematic constraints
1.5 Systems of N rigid bodies
2. Flexible multibody systems
2.1 Kinematics of the flexible body
2.2 Stress and conservation laws
2.3 Constitutive equations
2.4 Dynamics of the flexible body
2.5 Model discretization
2.6 Force elements and external forces
2.7 Kinematic constraints
2.8 Systems of N flexible bodies
3. Nonlinear mechanical systems and stability
3.1 Nonlinear systems
3.2 Stability of nonlinear time dependent systems
3.3 Stability of nonlinear autonomous systems
3.4 Linearization of nonlinear time dependent systems
3.5 Linearization of nonlinear autonomous systems
4. Linear mechanical systems and stability
4.1 Solution of linear time dependent systems
4.2 Solution of linear autonomous systems
4.3 Stability of linear time dependent systems
4.4 Stability of linear autonomous systems
5. Lagrange transform, Fourier transform and linear mechanical systems
5.1 Laplace transform definition and main properties
5.2 Solution of linear systems using the Laplace transform
5.3 Stability of linear systems and Laplace transform
5.4 Fourier transform definition and main properties
5.5 Solution of linear systems using the Fourier transform
5.6 Fourier transform and frequency response functions