Study-unit NON LINEAR AND ROBUST CONTROL
| Course name | Computer engineering and robotics |
|---|---|
| Study-unit Code | A003458 |
| Curriculum | Robotics |
| Lecturer | Francesco Ferrante |
| Lecturers |
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| Hours |
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| CFU | 9 |
| Course Regulation | Coorte 2023 |
| Supplied | 2024/25 |
| Learning activities | Caratterizzante |
| Area | Ingegneria informatica |
| Sector | ING-INF/04 |
| Type of study-unit | Obbligatorio (Required) |
| Type of learning activities | Attività formativa monodisciplinare |
| Language of instruction | Italian |
| Contents | -Complements of Linear System Control Theory. -Analysis of Nonlinear Systems. -Elements of Nonlinear System Control. -Analysis and Synthesis -Methods for Computer-Aided Control Systems. |
| Reference texts | - A. Isidori, "Sitemi di Controllo Vol. 2", Edizioni Siderea, 1993. -H. Khalil, "Nonlinear systems", Prentice Hall, 2002. |
| Educational objectives | The course provides basic tools for the analysis and feedback control of linear and nonlinear systems, as well as the use of computer-aided synthesis and analysis techniques. Specifically, the student will be able to: -Design complex control schemes for multi-input and multi-output linear systems. -Analyze nonlinear systems and understand the limitations of linear control techniques in practical applications. -Use advanced computational tools to develop software for the automatic design of control systems. |
| Prerequisites | Knowledge of linear system theory, feedback control, and differential equations is required. |
| Teaching methods | In-person lectures and tutorial session with a simulator. |
| Other information | Nessuna |
| Learning verification modality | The exam includes an oral test. The oral test consists of a discussion of a series of assignments prepared during the course, followed by an assessment of the student’s level of knowledge and understanding of the theoretical content covered during class. |
| Extended program | Basics of Linear Dynamic System Theory. State-space representations for continuous-time Linear Time-Invariant (LTI) systems. Structural properties, eigenvalue assignment, Luenberger observer, reduced-order observer. Separation principle. Fundamentals of optimal control: LQR control and Kalman filtering. Asymptotic output regulation problem. Partial and full information cases. Necessary and sufficient conditions. Specific results for the Single Input Single Output (SISO) case. Nonlinear systems in state form. Introduction, unique characteristics: limit cycles, isolated equilibria, finite-time blow-up. Lyapunov stability of equilibrium points. Convergence and asymptotic stability. Lyapunov stability theorem. Barbashin-Krasovskii theorem for global asymptotic stability. LaSalle’s principle and the Barbashin-Krasovskii-LaSalle theorem. Linearization theorem. Exponential stability: concepts and sufficient conditions. Converse theorem of exponential stability. Stability for systems subject to vanishing or persistent disturbances. Introduction to the use of Linear Matrix Inequalities (LMIs) as tools for control system analysis and synthesis. Robust stability in the presence of polytopic and norm-bounded uncertainties. |
| Obiettivi Agenda 2030 per lo sviluppo sostenibile |