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Risorsa bibliografica obbligatoria
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Scheda Riassuntiva
Anno Accademico 2014/2015
Scuola Scuola di Ingegneria Industriale e dell'Informazione
Insegnamento 096129 - ADVANCED AND MULTIVARIABLE CONTROL
Docente Scattolini Riccardo
Cfu 10.00 Tipo insegnamento Monodisciplinare

Corso di Studi Codice Piano di Studio preventivamente approvato Da (compreso) A (escluso) Insegnamento
Ing Ind - Inf (Mag.)(ord. 270) - MI (419) INGEGNERIA ELETTRONICA* AZZZZ096129 - ADVANCED AND MULTIVARIABLE CONTROL
Ing Ind - Inf (Mag.)(ord. 270) - MI (424) INGEGNERIA NUCLEARE* AZZZZ096129 - ADVANCED AND MULTIVARIABLE CONTROL
Ing Ind - Inf (Mag.)(ord. 270) - MI (434) INGEGNERIA INFORMATICA* AZZZZ088774 - ADVANCED AND MULTIVARIABLE CONTROL
088774 - ADVANCED AND MULTIVARIABLE CONTROL
Ing Ind - Inf (Mag.)(ord. 270) - MI (473) AUTOMATION AND CONTROL ENGINEERING - INGEGNERIA DELL'AUTOMAZIONE* AZZZZ096129 - ADVANCED AND MULTIVARIABLE CONTROL
Ing Ind - Inf (Mag.)(ord. 270) - MI (476) ELECTRONICS ENGINEERING - INGEGNERIA ELETTRONICA* AZZZZ096129 - ADVANCED AND MULTIVARIABLE CONTROL
Ing Ind - Inf (Mag.)(ord. 270) - MI (481) COMPUTER SCIENCE AND ENGINEERING - INGEGNERIA INFORMATICA* AZZZZ096129 - ADVANCED AND MULTIVARIABLE CONTROL

Programma dettagliato e risultati di apprendimento attesi

Advanced and Multivariable Control– 10 cfu

 

Master of Science (“Laurea magistrale”) in Automation and Control Engineering

School of Industrial and Information Engineering – Leonardo Campus

 

 

Aims and learning outcomes

The objective of this course is to present advanced methods for the analysis of dynamical systems and for the synthesis of multi-input, multi-output controllers. First, the Lyapunov stability theory will be introduced and applied to nonlinear system analysis. Then, the structural properties of linear dynamical systems (poles, invariant zeros, principal gains) will be described together with performance and robustness indices. Pole placement, Linear Quadratic and predictive control synthesis methods will be introduced and applied to a number of application examples. Further topics will concern state estimators based on pole assignment and Kalman filtering, LQG control, gain scheduling regulators and synthesis techniques relying on the robust control synthesis approach.

 

Syllabus

  1. Nonlinear systems: equilibria, stability, Lyapunov theorems. Synthesis of the control law with control Lyapunov functions and the backstepping procedure.
  2. Norms and gain of dynamical systems. Small gain theorem.
  3. Structural properties of linear systems: reachability, observability, poles, and invariant zeros.
  4. Nominal and robust stability of multivariable feedback systems. Static and dynamics performances. Schemes with integral action.
  5. Pole placement control of single-input, single-output and multivariable systems. State observers and dynamic output feedback. Disturbance estimation with state observers.
  6. Optimal control. Linear quadratic control: definitions, properties, examples of application. Kalman filtering and LQG control. H2 and H control, model order reduction.
  7. Model predictive control: formulations in the state space and with input-output models. Stabilizing properties of MPC.
  8. Control design examples: control of a chemical reactor, a distillation column, an inverted pendulum, an aircraft.

 

Bibliography

 

L. Magni, R. Scattolini: “Analysis and design of multivariable feedback systems”, Pitagora Editrice, 2014 (in preparation).

Lectures notes

H. K. Khalil: “Nonlinear Systems”, Prentice Hall, 1996.

J.M. Maciejowski: “Multivariable Feedback Design”, Addison-Wesley, 1989.

S. Skogestad, I. Postlethwaite: “Multivariable Feedback Control”, Wiley, 1996.

T. Glad, L. Ljung: “Control Theory”, Taylor & Francis, London, 2000.


 


Note Sulla Modalità di valutazione

The final assessment will be a written exam consisting of exercises and theoretical questions.

 


Bibliografia
Risorsa bibliografica obbligatoriaL. Magni, R. Scattolini, Advanced and Multivariable Control, Editore: Pitagora Editrice, Anno edizione: 2014
Risorsa bibliografica obbligatoriaH. K. Khalil, Nonlinear Systems, Editore: Prentice Hall, Anno edizione: 1996
Risorsa bibliografica obbligatoriaJ.M. Maciejowski, Multivariable Feedback Design, Editore: Addison-Wesley, Anno edizione: 1989
Risorsa bibliografica obbligatoriaS. Skogestad, I. Postlethwaite, Multivariable Feedback Control, Editore: Wiley, Anno edizione: 1996
Risorsa bibliografica obbligatoriaT. Glad, L. Ljung, Control Theory, Editore: Taylor & Francis, Anno edizione: 2000

Mix Forme Didattiche
Tipo Forma Didattica Ore didattiche
lezione
60.0
esercitazione
40.0
laboratorio informatico
0.0
laboratorio sperimentale
0.0
progetto
0.0
laboratorio di progetto
0.0

Informazioni in lingua inglese a supporto dell'internazionalizzazione
Insegnamento erogato in lingua Inglese
schedaincarico v. 1.6.1 / 1.6.1
Area Servizi ICT
19/11/2019