Ing Ind - Inf (Mag.)(ord. 270) - MI (473) AUTOMATION AND CONTROL ENGINEERING - INGEGNERIA DELL'AUTOMAZIONE
097469 - NONLINEAR CONTROL
The aim of this course is to introduce the student to the area of nonlinear control systems, that is control systems characterized by the presence of a nonlinear element, which can either be the system under control or the controller itself, including sensors and actuators. Nonlinear control systems with a hybrid dynamics will also be studied. This is of interest for applications involving cyber-physical systems, where the cyber part is typically modeled as a discrete system and interacts with the physical part that is modeled as a continuous system.
Some classical as well as modern analysis and controller design methods for nonlinear systems will be covered so as to enable the student to appreciate the diversity of phenomena that arise in nonlinear systems and to address a significant class of analysis and control design problems in a nonlinear context.
Risultati di apprendimento attesi
The course will allow students to
- learn some classical and modern analysis and design methodologies for nonlinear control systems
- analyse and design nonlinear control systems according to those methodologies
- explain in a clear and detail way the steps involved in the analysis/design of a nonlinear control system according to the appropriate resolution methodology
The course is structured in three parts, dealing with modeling, analysis, and design of nonlinear control systems, possibly with a hybrid dynamics.
Part 1 : modeling
- nonlinear continuous systems
- hybrid automata and piecewise affine systems
- hybridization of a nonlinear continuous system to a piecewise affine system
Part 2: analysis
- absolute stability of nonlinear Lur’e systems
- input-output stability
- passivity-based analysis
- reachability analysis for piecewise affine systems
Part 3: design
- variable structure control
- feedback linearization
- observer design for hybrid systems with linear continuous dynamics
- control design for piecewise affine systems
Students are required to know the basics of control theory, which are taught in introductory undergraduate courses on linear systems control.
Modalità di valutazione
The final assessment will be a written exam consisting of
- exercises, where the students will show their knowledge on analysis and design methodologies for nonlinear control systems as well as their capability to apply these methodologies to some numerical problems;
- theoretical questions, where the students will demonstrate their ability in explaining how to address and solve an analysis/design problem for a nonlinear control system, according to a given methodology.