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Academic Year 2021/2022
Name Dott. - MI (1377) Ingegneria Aerospaziale / Aerospace Engineering
Programme Year 1

Course Details
ID Code 056272
Credits (CFU / ECTS) 5.0
Course Description The course aims at presenting state of the art methods for control systems analysis and design which are relevant for aerospace applications, with specific reference to linear parameter-varying modelling and control, modern anti-windup design methods for saturated systems and hierarchical control for underactuated systems. The course starts with a general introduction on nonlinear systems with emphasis on control issues related to cases of practical interest for aerospace engineering (such as, e.g., the need for gain-scheduling in aircraft and rotorcraft flight control, the performance and safety issues associated with actuator saturation and windup effects, the definition of architectures for underactuated aerospace systems such as multirotor UAVs and helicopters). The programme of the course then covers the following three topics: 1) modelling control of linear parameter-varying (LPV) systems (a class of linear systems the parameters of which depend on a set of measurable scheduling variables); 2) analysis of the effect of static nonlinearities and design of anti-windup compensation methods for saturated linear and nonlinear plants; 3) control of underactuated systems (systems which have a lower number of actuators than degrees of freedom). Detailed programme: 1) General introduction to nonlinear systems analysis and control, motivating examples of in aerospace applications and nonlinear phenomena. 2) Linear parameter-varying systems Relevance of gain-scheduling in aerospace control. Nonlinear time-varying systems and linearization and limitations of classical gain scheduling control. Converting nonlinear systems into LPV models (Quasi-LPV, Jacobian linearization). Analysis and design of LPV feedback systems: quadratic stability and performance; parameter-dependent Lyapunov functions. Implementation of gain-scheduled control systems. 3) Static nonlinearities and anti-windup Saturation and windup phenomena in aerospace systems. Theoretical methods for the analysis and design of saturated systems: Input-output stability, absolute stability (multivariable circle criterion), Linear Matrix Inequalities (LMIs). From classical to modern anti-windup approaches. Modern anti-windup compensator design: Direct Linear Anti-Windup (DLAW), Model Recovery Anti-Windup (MRAW). Nonlinear control design for saturated double integrator systems: nested saturations, quasi-time optimal feedback control. 4) Underactuated systems Motivating examples: underactuated UAVs and spacecraft. Controllability issues and differential flatness. Cascade systems analysis with input to state stability tools and backstepping-based control design. Examples: Hierarchical control design for vectored-thrust underactuated UAVs, detumbling of a spinning underactuated spacecraft.
Scientific-Disciplinary Sector (SSD)
SSD Code SSD Description CFU

Alphabetical group Professor Course details
From (included) To (excluded)
A ZZZZ Invernizzi Davide
manifestidott v. 1.7.0 / 1.7.0
Area Servizi ICT