Control Systems
(9 credits)

Prof. Leonardo Lanari

Dipartimento di Ingegneria Informatica, Automatica e Gestionale
Sapienza Università di Roma


Information
schedule 2023-2024 academic year, Fall 2023: 25 Sep - 22 Dec
classes Mon 10:00-12:00, Thu 10:00-13:00, Fri 08:00-11:00  all in Aula 8 (Building RM031), 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


Google group registration:

Students are required to register (read instructions below) to the course Google Group [Control Systens 2023] and wait for the approval.
This will be the tool to share files and communicate with the students any useful information.

In  particular:

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

Supplemental material
Matlab/Simulink: you have it free as students, take full advantage!

Exercises and some past exams:


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 Tuesday 23/01 from 11:30 to 13:00

-  online office hour on Tuesday 25/01 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" (see here, there is also an English version)

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.

- 03/11/2023 registration closes on the 27/10/2023
- 08/01/2024 registration closes on the 31/12/2023
- 29/01/2024 registration closes on the 22/01/2024
- 04/03/2024 (confirmed) registration closes on the 26/02/2024. Extraordinary session.
- 03/06/2024 registration closes on the 25/05/2024
- 01/07/2024 registration closes on the 22/06/2024
- 02
/09/2024 registration closes on the 22/08/2024
- xx/xx/2024 (to be defined) registration closes on the xx/xx/2024. Extraordinary session


Exam 08/01/2024 registration closes on the 31/12/2023 (no exceptions)
Note: Those with no "piano di studio" approved yet should write an email on the 30th (NOT before) with the subject "Piano di studio problem", and a text with
- 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 31st of December.

If you realize that you will not attend the exam, you are kindly invited to notify me.

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")

Results exam 04/03/2024 here. Send an email regarding the acceptance before the 17/03 evening.

   No calculators will be allowed

   Everything will be provided. No need for paper, or lead/lag functions and semilog paper.

   I need a decision (acceptance or not) of the grade within  17/03/2024 (midnight).
   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).

  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.



Lanari

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