This course aims at giving to participants all the mathematical tools required in the analysis and design of control systems, together with the basics on technological aspects related to their realization. A classic mechatronic problem, i.e., the design of a motion control system, is used as a case study to show a realistic application of these tools.
The first part of the course deals with the basics on systems theory for continuous time and discrete time systems, and introduces the control system design problem, focusing on the tools required to analyze stability and performance of feedback control systems. Time domain and frequency domain design approaches are then introduced. The indirect digital controller design problem, i.e., the transformation of a continuous time control system into a digital one, closes this part.
The second part of the course presents an application of frequency and time domain control methodologies to a mechatronic problem, i.e., motion planning and control of a servomechanism, and introduces the basics on technological aspects related to the realization of control systems. In particular, hardware technologies, related to conditioning, filtering, analog-to-digital and digital-to-analog conversion, and software technologies, related to control system design, communication networks and Programmable Logic Controllers (PLCs), are discussed.
Contents
Lecture timetable
The course is composed by a blending of lectures by the course teacher, and exercises and laboratories by a teaching assistant (Roberto Rossi).
| Lecture | Monday | 15.15-18.15 | B2.2.15 |
| Tuesday | 15.15-18.15 | BL.27.14 | |
| Wednesday | 15.15-18.15 | L.02 | |
| Laboratory | Tuesday | 15.15-17.15 | CS.02 |
A detailed schedule of laboratories can be found here (days are correct up to some last minute change I will notify you by email):
- Laboratory 1: October 24, 2017
- Laboratory 2: November 7, 2017
- Laboratory 3: November 21, 2017
- Laboratory 4: November 28, 2017
- Laboratory 5: December 5, 2017
Teaching material
Lectures
- Course introduction
- Systems theory overview (continuous time systems)
- Frequency domain design
- Root locus
- State space design
- Systems theory overview (discrete time systems)
- Digital control systems
- Motion planning
- Motion control (standard control techniques)
- Motion control (advanced control techniques)
- Industrial robotics
- Control system technologies for automation (Conditioning, filtering, A/D and D/A conversion)
- Control system technologies for automation (Control system design, communication systems, Programmable Logic Controllers)
Exercises
- Time domain analysis of dynamical systems
- Time responses of first/second order systems
- Stability and performance analysis of closed-loop systems
- Frequency domain design
- Root locus and pole placement design
- Discrete time systems and digital control design
- Hardware technologies for automation
- Final exam example
Laboratories
- Closed-loop systems (exercises, solutions)
- Pole placement (exercises, solutions)
- Discrete time systems and digital control (exercises, solutions)
- Motion control techniques (exercises, solutions)
- Advanced motion control techniques (exercises, solutions)
Project
- Control of a Mobile Inverted Pendulum (project 2015/2016)
- Control of a laboratory thermal process (project 2016/2017)
Past exams
| 2015/2016 | February, March, July, September (I), September (II) |
| 2016/2017 | February, March, July (I), July (II), September |
| 2017/2018 | January, February, June, July (II), September |
Office hours
See "Professor's activities" page on www.polimi.it.
Please, always send me an email before coming to an office hour, or to arrange a meeting outside office hours.
Online resources
The following are links to online sources which might be useful to complement the material above