Corso di
FEEDBACK CONTROL SYSTEMS

Scheda

Codice8037953
Denominazione ingleseFEEDBACK CONTROL SYSTEMS
LinguaInglese
CFU9
SSDING-INF/04

Docente

Prof. Cristiano Maria Verrelli

Programma

Linear systems.

The matrix exponential; the variation of constants formula. Computation of the matrix exponential via eigenvalues and eigenvectors and via residual matrices. Necessary and sufficient conditions for exponential stability: Routh-Hurwitz criterion. Invariant subspaces. Impulse responses, step responses and steady state responses to sinusoidal inputs. Transient behaviors. Modal analysis: mode excitation by initial conditions and by impulsive inputs; modal observability from output measurements; modes which are both excitable and observable. Popov conditions for modal excitability and observability. Autoregressive moving average (ARMA) models and transfer functions.

Kalman reachability conditions, gramian reachability matrices and the computation of input signals to drive the system between two given states. Kalman observability conditions, gramian observability matrices and the computation of initial conditions given input and output signals. Equivalence between Kalman and Popov conditions. Kalman decomposition for non reachable and non observable systems.

Eigenvalues assignment by state feedback for reachable systems. Design of asymptotic observers and Kalman filters for state estimation of observable systems. Design of dynamic compensators to stabilize any reachable and observable system. Design of regulators to reject disturbances generated by linear exosystems.

Introduction to adaptive control. Introduction to tracking control. Minimum phase systems and proportional Integral Derivative (PID) control.

Bode plots. Static gain, system gain and high frequency gain. Zero-pole cancellation. Nyquist plot and Nyquist criterion. Root locus analysis. Stability margins. Frequency domain design. Realization theory.

Introduction to nonlinear systems.

Nonlinear models and nonlinear phenomena. Fundamental properties. Lyapunov stability. Linear systems and linearization. Center manifold theorem. Stabilization by linearization. Control mechanisms, bifurcation phenomena, complexities and subtleties in biology and physiological processes.

Lezioni 2021-22

Il corso si tiene nel secondo semestre.
L'orario sarà disponibile prima dell'inizio delle lezioni.

Statistiche

Questa sezione riassume le statistiche relative alle votazioni di profitto ottenute dagli studenti dall'anno accademico 2010-11 ad oggi. I dati sono aggiornati frequentemente, ma non in tempo reale. Essi si riferiscono comunque soltanto agli esami sostenuti da studenti iscritti al Corso di Laurea o Laurea Magistrale in Ingegneria Elettronica.
Nel calcolo sono inclusi gli esami dello stesso corso con diverso codice.
Il 30 e lode è considerato come 31 nel calcolo della media e dello scarto quadratico medio.
StatisticaValore
Numero esami137
Voto minimo18
Voto massimo30 e lode
Media dei voti26,21
Scarto dei voti2,92
Media votazioni per anno accademico
Anno accademicoEsamiMedia
2019-20925,44
2018-191426,71
2017-181627,06
2016-172927,58
2015-162825,71
2014-154125,24