Dipartimento di Ingegneria Informatica, Automatica e
Gestionale (DIAG)
Sapienza Università di Roma
Information
| schedule |
2025-2026 academic year, Fall 2025: 22 Sep
- 19 Dec
|
| classes |
Mon 10:00-12:00, Thu 10:00-13:00 both in Aula
8 (Building RM031), Fri 08:00-11:00 all in
Aula 33 (Building RM032), Via Eudossiana 18
|
| office hours |
Tue 12:00-13:00, office A212, DIAG, Via
Ariosto 25 (to be confirmed - only during the first
semester) - see below
|
| course website |
http://www.diag.uniroma1.it/~lanari/ControlSystems/CS_en.html
|
NEWS
- the first lecture of the Control
Systems course scheduled for Monday 22/09 will be unfortunately
only online starting at 10:00.
The Zoom link will be provided a few minutes before the start of
the lecture in the course Google Group.
Please register to the Google Group and inform as many
friends/colleagues as possible.
Page is currently being updated, some links may not work yet.
Google group registration:
Students are required to register
(read instructions below) to the course Google Group [Control
Systens 2025] and wait for the approval.
This will be the tool to share files and communicate with the
students any useful information.
In particular:
- enrolled students at Sapienza
must apply using their institutional Sapienza email
(@studenti.uniroma1.it) and use their last (cognome)
and first name (nome), in this order (in "Nome
Visualizzato" or "Visualized Name")
- students that are not yet
officially enrolled (including Erasmus) should specify in the
request "not yet enrolled with matricola number xxxxxxx"
(specify your matricola number) and should use their first
and last name as they will be registered in Infostud.
This is a temporary solution until they get their
institutional Sapienza email.
Warning
regarding messages from students:
I will answer only emails sent from the institutional
address @studenti.uniroma1.it
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 (if time
available)::
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 (available
during the course): topics and material (slides and links to
online OCW lessons). There will be slides updates during
the semester.
Other sources:
- G. F. Franklin, J.
Da Powell and A. Emami-Naeni, Feedback Control of Dynamical Systems, Prentice Hall.
- R. Dorf, R. Bishop,
Modern Control Systems,
(international edition), Prentice Hall.
- N.S. Nise, Control Systems Engineering,
(international student edition), John Wiley.
- 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 - (Linear
Systems and Feedback
Systems 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
Matlab/Simulink:
you have it free as students, take full advantage!
Exercises and some
past exams:
typos may still be
present, please send me an email in case you think you have
found one
- Self-assessment 00a (solutions here)
- Self-assessment 00b
(solutions here)
- Self-assessment 01 (solutions here)
- Self-assessment 02 (solutions here)
- Loop shaping: a typical exercise
- Some past exam problems (Part
A, Part B, Part C)
- Text of the exam
session 07/01/2019 (with solution) here
- Text of the exam
session 08/01/2020 (with solution) here
- Text of the exam
session 04/02/2020 (with solution) here
- Text of the exam
session 10/01/2022 (with solution)
here
- Text of the exam
session 31/01/2022 (with solution) here
- Text of the exam session 09/01/2023 (with
solution) here
- Text of the exam
session 30/01/2023 (with solution) here
- Text of the exam session 08/01/2024 (with
solution) here
- Text of the exam session 29/01/2024 (with
solution) here
- Text of the exam session 14/01/2025 (with
solution) here
- Text of the exam session 12/02/2025 (with
solution) here
Some interesting links
It is
always interesting to see how this "hidden technology" finds more and more
advanced applications in the real world, from the IEEE Control Systems Society
website.
News
Special office hours will be
available before the next January session.
Office hours:
- online office hour on xxx
xx/xx from 11:30 to 13:00
A Zoom link will be available. Write to me if you will
attend (remote or presence); if I receive no messages there
will be no office hour.
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
Reminder: exams are "in
presence" only
Exams schedule (always check for last minute
changes):
For the extraordinary sessions (March and
October) (check here
to see if you are allowed, also in English)
Be aware that registration
closes several days before the exam (no
exceptions).
- date changed
to 29/10/2025
(from 06/10) last day
for registration: 22/10/2025 Extraordinary session (date
depends upon space availability)
- 12/01/2026 last day
for registration: 03/01/2026
- 02/02/2026
last day for registration: 26/01/2026
-
02/03/2026 last day for
registration: 26/01/2026 Extraordinary session
- 08/06/2026 last day for registration: 01/06/2026
- 30/06/2026
last day for registration:
22 /07/2026
- 01/09/2026 last day for registration: 23/08/2026
(to be confirmed)
- xx/xx/2026 (to be defined) last day for
registration: xx/xx/2026. Extraordinary session
No calculators will be
allowed
Everything will be provided.
No need for paper, or lead/lag
functions and semilog
paper.
If you
realize that you will not attend the exam, you are
kindly invited to notify me as soon as possible (it is
considered a form of education also with respect to your
colleagues).
Too many students register and do not care about
informing about their absence.
Read your institutional email for important
information on the exam.
Warning: the exam will be marked
as "bocciato" (failed) on Infostud from the second time on if it
is largely unsatisfactory (e.g., if you failed in the January
2022 session and you fail again, then this second result may be
registered as "bocciato") Exam
xx/01/2026 registration closes on the
xx/01/2026 (no exceptions)
Note: Those with no "piano
di studio" approved yet should write an email on the xth
or xth (NOT before) with:
- message subject: Piano di studio problem
- message text:
Matricola:
Last Name (the one used in Infostud)
First Name
Different formats of the message will not
be considered. No messages will be accepted after the 6th
of January.
Results exam 29/10/2025 here. Send an email
regarding the acceptance before the 15/9 evening.
No email 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)
Those who could not register for the January exam but have
passed the exam, register for the February session and write to
me that it's just for the official grade registration on
Infostud.
HOMEPAGE