Learning objectives
The course aims to give the basis for the analysis, simulation and control of actual physical system having linear or nonlinear characteristics. All the topics are both analyzed from a theoretical and a practical point of view. A relevant number of laboratory exercitations are planned. The advanced programming of the simulation program Matlab/Simulink is taught.
Prerequisites
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Course unit content
<br />Dynamic linear system model<br />Elaboration of a dynamic linear system model (servomechanism) by studying its physical characteristics.<br />Dynamic linear system control<br />Design requirements and pole assignment for a feedback system. Controller design for linear systems: unit feedback, state-input, Diophantine equation. Effects introduced by nonminimum-phase zeros. Discrete controllers design through the Diophantine equation. <br />Discretization of continuous control systems<br />Sampling time selection and the effects it introduces. Problem caused by signal quantization and saturation.<br />Unmodelled dynamics effects and model nonlinearities.<br />Dynamic nonlinear systems model<br />Elaboration of a nonminimum-phase nonlinear system model (inverted pendulum) by studying its physical characteristics.<br />Dynamic nonlinear systems control<br />Design by system linearization and eigenvalues assignment. Optimal control basis.<br />
Full programme
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Bibliography
<br />D. Hanselman, and B. Littlefield,“The student edition of Matlab”, Prentice Hall, Upper Saddle River, NJ<br />J. B. Dabney, and T. L. Harman, “The student edition of Simulink, Prentice Hall, Upper Saddle River, NJ
Teaching methods
<br />Teaching activities<br />A wide part of the course takes place at the Automation Lab. Theoretical lessons mainly deal with mechatronic systems control. <br />Arguments and techniques learned in the theoretical lessons are applied during the laboratory exercitations. The laboratory activity mainly consists in simulating linear and nonlinear feedback control systems by means of the Matlab/Simulink program. All theoretical subjects are experimentally validated by using the mechatronic systems which are available at the Automation Lab.<br />Examination method<br />The final test requires to develop a project where a feedback controller for a nonlinear system is designed, simulated and tested by means of the Lab equipments.<br />
Assessment methods and criteria
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Other information
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