Risorse bibliografiche
Risorsa bibliografica obbligatoria
Risorsa bibliografica facoltativa
Scheda Riassuntiva
Anno Accademico 2019/2020
Scuola Scuola di Ingegneria Industriale e dell'Informazione
Insegnamento 052369 - NETWORKED CONTROL
Docente Farina Marcello
Cfu 5.00 Tipo insegnamento Monodisciplinare

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

Obiettivi dell'insegnamento

In the past decades a growing interest has been dedicated to networked systems and large-scale plants where parts of the system, e.g., sensors, actuators, are not collocated and are possibly distributed over a large geographic area. These classes of systems include, e.g., large chemical plants, power distribution networks, industrial factories, water distribution networks, and multiple agents cooperating with each other through suitable coordination schemes (e.g., unmanned aerial and ground vehicles and teams of robots).

The control of these systems may require communication through a shared transmission network and/or to resort to complex (e.g. decentralized, distributed, or hierarchical) schemes.

However, one the one hand, communication through a shared transmission network involves a number of issues, e.g., bandwidth limitation, delays, packet dropouts, which can compromise the stability properties of the network. On the other hand, distributed and decentralized control structures entail structural constraints and limitations, and call for non-standard analysis and control design tools.

The course covers the necessary mathematical and technical tools for the analysis and the design of possibly complex control systems subject to communication and structural issues.

Risultati di apprendimento attesi

Lectures and exercise sessions will allow students to:

  • Understand the challenges, opportunities, and issues related to networked control systems.
  • Understand the possible sources of communication problems, including bandwidth limitations, delays, and packet dropouts.
  • Learn how to devise mathematical models where communication issues are formally described, and perform stability analysis of networked control systems, i.e., where communication takes place through a serial communication bus.
  • Understand the theoretical limitations (e.g., decentralized fixed modes) related to decentralized and distributed control structures, and learn how to design decentralized and distributed regulators with linear matrix inequalities.

Argomenti trattati

The course will cover the following topics:

  • INTRODUCTION: Introduction on networked control systems, control architectures for large-scale and networked systems, and application areas. Issues and challenges of networked control systems.
  • PRELIMINARIES: Basic and more advanced concepts in control theory (with focus on linear systems) will be recalled and covered, in order to provide consistent background to the students, e.g.
    • Stability of continuous-time and discrete-time systems;
    • Controllability and observability;
    • Basics on linear matrix inequalities in control systems analysis and design.
    • Communication issues in networked control systems. Control networks, packet transmission, and transmission protocols.
    • Control with bandwidth limitations: minimum channel capacity requirements.
    • Network-induced delays and packet dropouts. Stability analysis in case of network-induced delays and packet dropouts.
    • Definition of decentralized fixed modes and stabilization with decentralized regulators.
    • Design of decentralized and distributed controllers using linear matrix inequalities for both continuous and discrete-time systems.

The course consists of:

  • Theoretical lectures (about 30 hours).
  • Numerical exercise lectures (about 6 hours).
  • Computer laboratory lectures (about 8 hours), where the described analysis and design methods will be implemented using dedicated computer tools and programs (e.g., MATLAB and YALMIP).
  • Project laboratory lectures (about 4 hours): the teacher will assign a project to each group of 1-4 students regarding the design of decentralized and distributed controllers for a selected benchmark case study. The project discussion will be matter of evaluation during the oral exam.



The students are required to have a consolidated background on basics of automatic control and systems theory, with specific focus on state-space linear models, both in continuous and in discrete time.

Modalità di valutazione

The Exam consists of two parts aiming to evaluate, not only the students’ knowledge and understanding of the course topics, but also their ability to apply the acquired concepts and theoretical/practical tools.

  • Regarding “Control with communication issues”, a written test must be taken, consisting of numerical exercises and theoretical questions.  The numerical exercises will assess the capability of students to: (a) devise mathematical models where communication issues are formally described; (b) perform stability analyses of networked control systems, possibly in simplified cases.
    Open or multiple-choice questions will be used to assess the knowledge of students of the following topics.
    • Communication issues in networked control systems.
    • Mathematical modelling and stability analysis of networked control systems under communication issues. 
  • Regarding “Decentralized and distributed control structures”, a project work must be completed and presented in a short oral discussion, where the comprehension of the main theoretical concepts will also be examined. The students’ ability to apply the following tools and concepts will be evaluated.
    • Centralized, decentralized and distributed fixed mode analysis.
    • Design of decentralized and distributed controllers for large-scale systems.


Risorsa bibliografica obbligatoriaSlides, lecture notes, and computer programs will be made available to students on the BeeP Portal. https://beep.metid.polimi.it/
Risorsa bibliografica facoltativaR. J. Baillieul, P. J. Antsaklis, Control and communication challenges in networked real-time systems, Editore: Proceedings of the IEEE, 95 (1), pp. 9-28.
Risorsa bibliografica facoltativaJ. R. Moyne and D. M. Tilbury, The emergence of industrial control networks for manufacturing control, diagnostics, and safety data, Editore: Proceedings of the IEEE, 95 (1), pp. 29-47.
Risorsa bibliografica facoltativaR. J. Baillieul, Feedback coding for information-based control: operating near the data-rate limit, Editore: Proceedings of the IEEE Conference on Decision and Control, 2002, pp. 3229-3236.
Risorsa bibliografica facoltativaW. Zhang, M. S. Branicky, S. M. Phillips, Stability of networked control systems., Editore: IEEE Control Systems Magazine, 2001, pp. 84-99.
Risorsa bibliografica facoltativaJ. P. Hespanha, P. Naghshtabrizi, Y. Xu, A survey of recent results in networked control systems., Editore: Proceedings of the IEEE, 95 (1), pp. 138-162.
Risorsa bibliografica facoltativaJ. Lunze, Feedback Control of Large-Scale Systems, Editore: Prentice Hall International Series in Systems and Control Engineering, Anno edizione: 1992
Risorsa bibliografica facoltativaZecevic, D. D. Siljak, Control of complex systems. Structural constraints and uncertainty, Editore: Springer, Anno edizione: 2010

Forme didattiche
Tipo Forma Didattica Ore di attività svolte in aula
Ore di studio autonome
Laboratorio Informatico
Laboratorio Sperimentale
Laboratorio Di Progetto
Totale 50:00 75:00

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