11/7/2017 Control Systems - L.

Lanari

Control Systems
(9 credits)
Prof. Leonardo Lanari

Information
schedule 2017-2018 academic year, Fall 2017: 25 Sep - 21 Dec 2017 - course will start on October 2nd
classes Mon 14:00-16:00 (room 1), Wed 8:00-11:00 (room 1), Fri 8:00-11:00 (room 1)
office hours Tue 12:00-13:00 (temporary), office A212, DIAG, Via Ariosto 25 (only during the first semester)
extra office hours below
course website http://www.dis.uniroma1.it/~lanari/ControlSystems/CS_en.html

Audience
This 9-credit module is primarily offered to students of the Laurea Magistrale in Ingegneria Meccanica (MMER) of the Facoltà di Ingegneria Civile e Industriale of
Sapienza University of Rome.

Objective
This course provides some basic tools for the analysis and control of linear systems.

Syllabus

Analysis of linear systems:

Linear dynamical systems. Free evolution (Zero Input response). Asymptotic stability and Routh criterion. Forced evolution (Zero State response). Steady-state
and frequency response. Bode diagrams. Interconnected systems. Stability of feedback systems: Nyquist criterion.

Structure and requirements in the design of control systems:

Compensation and feedback in automatic control examples, structure and fundamental properties. Precision. Steady-state error. Disturbance rejection and
attenuation. Transient response. Performance analysis and sensitivity functions.

Frequency domain design techniques:

Elementary compensators and their realization. Design of compensators based on Bode diagrams. Loop shaping.

Root locus design techniques:

Root locus and its sketching. Stabilization of minimum-phase systems. Design of minimum-dimension controllers.

Direct design techniques:

Design by pole assignment.

State space design techniques:

Structural properties: reachability and observability. Structural decompositions. Eigenvalue assignment. Stabilization via state feedback. Asymptotic observer.
Separation principle. Detectability and stabilization via output feedback.

Stability of nonlinear systems:

Stability definitions according to Lyapunov. The direct method of Lyapunov. Invariant set theorems. The indirect method of Lyapunov.

Examples:
Examples of application. Design and simulation of control systems via MATLAB/Control System Toolbox and Simulink.

Reference material

Lectures: topics and material (slides and links to online OCW lessons)

Other sources:
G. F. Franklin, J. Da Powell and A. Emami-Naeni, Feedback Control of Dynamical Systems, Prentice Hall, 2011.
R. Dorf, R. Bishop, Modern Control Systems, (international edition), Prentice Hall, 2005.
N.S. Nise, Control Systems Engineering, (international student edition), John Wiley, 2011.
A. D. Lewis, A mathematical approach to classical control, 2003 - online version (not all the chapters are within the scope of this course).
K. J. Astrom and R. M. Murray, Feedback systems: an introduction for scientists and engineers, Princeton University Press, 2008 - online version (not all the
chapters are within the scope of this course).
P. Albertos and I. Mareels, Feedback and control for everyone, 2010, Springer. It's a suggested reading (the book introduces most of the fundamental ideas
of control through interesting examples and in an almost math-free context).

Supplemental material

http://www.dis.uniroma1.it/~lanari/ControlSystems/CS_en.html 1/2
11/7/2017 Control Systems - L. Lanari
Matlab
"Getting started with Matlab", "Getting started with Simulink" from MathWorks (both with tutorials and examples)
"Control tutorials for Matlab & Simulink" from the University of Michigan (you can also start from here with examples similar to those shown during the
lectures)
Self-assessment 00a (solutions here) - The text has been slightly changed
Self-assessment 01 (solutions here)
Self-assessment 02 (solutions here) If you find any typo (first and second self assessment) please send me an email with a precise indication of where it is,
thank you in advance.
Loop shaping: a typical exercise (new 18/01/2017)
Some past exams (Part A) new
Some past exams (Part B) new

Some interesting links

The Impact of Control Technology - 2nd Ed (from the IEEE Control Systems Society website): it is always interesting to see how this "hidden technology"
finds more and more advanced applications in the real world.

News

- Course will start on Monday 02/10/2017

Special office hours:

- Monday 11/09/2017, 15:00-16:00

- Wednesday 13/09/2017, 12:00-13:00
- Friday 15/09/2017, 12:00-13:00

There will be no Control Systems class during the week 14-18 of November 2016.

To see what we do at the DIAG Robotics Lab visit the YouTube channel RoboticsLabSapienza

Seminar (2015): "Controllo di un elicottero quadrirotore" Ing. Marco Cognetti - DIAG

Seminar (2015): "Controllo del robot Pendubot" Ing. Massimo Cefalo - DIAG
Seminar (2015): "Controllo piattaforma CyberWalk" Prof. Alessandro De Luca - DIAG

Exams

Future exams
(due to the large number of students, it is essential to know in advance how many students will attend the exam, this requires that the reservations close some
days before the actual exam)

06/11/2017 - last reservation day is 01/11/17 (this exam is reserved to particular situations - see here)
exam will start at 16:30 in Aula 7 - Via Ariosto 25.
Last minute variations are possible, please always check the webpage

Recall that nothing will be provided so please bring your own paper, lead/lag functions and semilog paper.

Exam 20/09/2017: results

The corrected exams can be viewed:
# 05/10/2017 from 14:00 to 14:30
# 06/10/2017 from 14:00 to 14:30
I need a decision (acceptance or not) of the grade within October 06.
No answer not only means no acceptance of the grade but also that I will write "Bocciato" (Failed) on the official report (verbale)

You can directly send me an email if you accept the proposed grade (there is no need of signing any document).

HOMEPAGE

http://www.dis.uniroma1.it/~lanari/ControlSystems/CS_en.html 2/2