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|
| Academic Year |
2024/2025 |
| Name |
Dott. - MI (1380) Ingegneria dell'Informazione / Information Technology |
| Programme Year |
1 |
| ID Code |
062761 |
| Course Title |
DATA-BASED CONVEX PROGRAMS FOR CONTROL DESIGN |
| Course Type |
MONO-DISCIPLINARY COURSE |
| Credits (CFU / ECTS) |
5.0 |
| Course Description |
1) *Problem setting.* Experiment for data collection, relation with persistence of excitation, priors, overview of control objectives.
2) *Direct data-driven control design for linear systems.* Lyapunov stability theory, linear matrix inequalities. Control tasks: stabilization, linear quadratic optimal control, performance specification. Output-feedback data-driven control.
3) *The case of perturbed data.* Noise sources and noise models. Noisy data-dependent representations of closed-loop systems. The control problem with noisy data. Matrix elimination results and connections with robust control. Petersen's lemma. Control design with noisy data: state and output feedback for linear systems. Extensions to bilinear systems.
4) *Computationally tractable nonlinear control systems: polynomial dynamics.* Positive and sum-of-squares polynomials. Sum-of-squares programming. Control design from data for polynomial systems. Convex and nonconvex programs. Invariance and safe control design.
5) *Data-driven control design for input affine systems.* Lyapunov methods. Stabilization and invariance. Exact and approximate nonlinearity cancellation. Feedback linearization. Advanced schemes: event-triggered control, contractive control, nonlinear proportional-integral controllers. |
| Scientific-Disciplinary Sector (SSD)
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SSD Code
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SSD Description
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CFU
|
|
ING-INF/04
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SYSTEMS AND CONTROL ENGINEERING
|
5.0
|
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Alphabetical group
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Name
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Teaching Assignment Details
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|
From (included)
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To (excluded)
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|
A
|
ZZZZ
|
Bisoffi Andrea, De Persis Claudio
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