Risorse bibliografiche
Risorsa bibliografica obbligatoria
Risorsa bibliografica facoltativa
Scheda Riassuntiva
Anno Accademico 2019/2020
Scuola Scuola di Ingegneria Industriale e dell'Informazione
Insegnamento 097520 - AUTOMATIC CONTROL A
Docente Zanchettin Andrea Maria
Cfu 10.00 Tipo insegnamento Monodisciplinare

Corso di Studi Codice Piano di Studio preventivamente approvato Da (compreso) A (escluso) Insegnamento

Obiettivi dell'insegnamento

This course aims at giving to participants all the mathematical tools required in the analysis and design of control systems, together with the basics on technological aspects related to their implementation. A classic mechatronic problem, i.e., the design of a motion control system, is used as a case study to show a realistic application of these tools (for Automatic Control A and C, only).

Risultati di apprendimento attesi

At the end of the course, the student is aware of:

  • the properties of dynamical system and the possibility to modify its behaviour through feedback;
  • the possibility to represent the behaviour of a linear and time invariant dynamical system with respect to both time and frequency domain;
  • the possibility to use numerical tools to verify the properties of a dynamical system.

Moreover, the student will also be able to apply his/her knowledge:

  • to derive a simple dynamical system to represent the behaviour of a simple, yet real, dynamical system;
  • to propose a feedback control law for a given dynamical system which satisfies given requirements in terms of performance and robustness;

Finally, the student will be also able to link all the acquired theoretical backgrounds to elaborate and communicate the solution to simple questions, which are not of immediate application of known results.

Argomenti trattati

Automatic Control A, B and C:


Systems theory overview (continuous time systems): Fundamentals of continuous time dynamical systems. Solutions and equilibrium points. Lyapunov stability. Linear Time Invariant (LTI) systems: solutions and equilibrium points, stability analysis. Stability of equilibria of nonlinear systems. LTI systems in the frequency domain. Structural properties of LTI systems: observability and controllability. Realization and canonical forms.


Frequency domain design: Frequency response. Introduction to control systems. Loop stability analysis. Loop transient and steady-state performance analysis. Control system design. Feedforward compensation. Cascaded control. PID regulators. Root locus.


Time domain design: Introduction to state space design. Full-state feedback. Observer design. Combining observer and control law. Introduction of a reference input. Adding a feedforward action.


Systems theory overview (discrete time systems): Introduction to discrete time systems. Linear Time Invariant (LTI) systems: solutions and equilibrium points, stability analysis. Stability of equilibria of nonlinear systems. LTI systems in the frequency domain. Time response of a first order system. Frequency response.


Digital control systems: Introduction to digital control systems. Analog-to-digital conversion: effects of sampling on the closed loop system. Digital-to-analog conversion. Indirect digital controller design: selecting the sampling rate and determining the transfer function of the digital regulator.



Automatic Control A and C, only:


Motion planning: Introduction to motion planning: point-to-point motion planning and trajectory planning. Point-to-point motion planning with polynomial functions and trapezoidal velocity profiles. Using splines for trajectory planning. Trajectory scaling.


Motion control: Introduction to motion control problems. Models of an electric motor and of rigid and elastic transmissions. P/PI (position/velocity) control: tuning for rigid and elastic transmissions, using motor and load feedback, intrinsic performance limits. PID regulators: standard form and anti-windup techniques.


Advanced motion control: Notch filters. Torque disturbance observer. Use of pole placement techniques to design the motion control system. Input shaping.


Industrial robotics: Industrial robots. Kinematic and dynamic models. Joint space and Cartesian space motion planning. Elements of robot control: independent joint control, computed torque, PD control, inverse dynamic control.



Automatic Control A, only:


Hardware technologies for automation: Operational amplifiers, instrumentation amplifiers, and isolation amplifiers. Elements of cables and cable selection. Differential and single-ended measurements. Standard systems used for signal transmission from sensor to controller. Analog and digital I/O conditioning and filtering. Analog-to-digital and digital-to- analog converters.


Software technologies for automation: Hardware and software architecture of a control system. Industrial communication networks: Ethernet and Fieldbus. Programmable Logic Controllers (PLCs): sequential function charts (SFC). Real-time and embedded systems.


The student is expected to have a solid background on Math, Calculus and Linear Algebra, and specifically on complex numbers, matrices, and differential equations. Basic knowledge on basic engineering disciplines like electrical circuits and simple mechanical systems are also necessary.

Modalità di valutazione

The evaluation of the student will be based on a written examination of 2 hours (120 minutes) with closed books. The exam consists of 1 (one) question and 4 (four) exercises. More in particular:

  • the question is intended to evaluate the ability of the student to interconnect the acquired knowledge in order to elaborate and communicate the solution, which is not of immediate application of topics explained during lectures;
  • the exercises are intended to test the capability of the examinee of applying the acquired skills to numerical problems.

The total score of the exam is 32 points, and the test is assumed to be passed if the total score as at least equal to 18.

Risorsa bibliografica obbligatoriaPaolo Bolzern, Riccardo Scattolini, Nicola Schiavoni, Fondamenti di controlli automatici, Editore: McGraw-Hill, Anno edizione: 2015, ISBN: 9788838668821
Risorsa bibliografica obbligatoriaGene F. Franklin, J. Da Powell, Abbas Emami-Naeini, Feedback Control of Dynamic Systems, Editore: Pearson, Anno edizione: 2015, ISBN: 978-0133496598
Risorsa bibliografica obbligatoriaNorman S. Nise, Control Systems Engineering, Editore: John Wiley and Sons, Inc., ISBN: 978-0470917695
Risorsa bibliografica obbligatoriaKarl Johan Astrom and Richard M. Murray, Feedback systems - An Introduction for Scientists and Engineers http://www.cds.caltech.edu/~murray/amwiki/index.php/Second_Edition

Available in PDF at: http://www.cds.caltech.edu/murray/books/AM05/pdf/am08-complete_22Feb09.pdf

Forme didattiche
Tipo Forma Didattica Ore di attività svolte in aula
Ore di studio autonome
Laboratorio Informatico
Laboratorio Sperimentale
Laboratorio Di Progetto
Totale 100:00 150:00

Informazioni in lingua inglese a supporto dell'internazionalizzazione
Insegnamento erogato in lingua Inglese
Disponibilità di materiale didattico/slides in lingua inglese
Disponibilità di libri di testo/bibliografia in lingua inglese
Possibilità di sostenere l'esame in lingua inglese
Disponibilità di supporto didattico in lingua inglese
schedaincarico v. 1.6.5 / 1.6.5
Area Servizi ICT