CONTROL LABORATORY
Corso
A Padova
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Descrizione
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Tipologia
Corso
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Luogo
Padova
The knoledge and skills acquired in the course are verified by the instructor through the grading of four essays, one for each laboratory activity, describing both the design and simulation parts and the experimental realization of the controlled system. In this way, all notions and skills that are the aim of the course will be evaluated.
The final evaluation follows the oral discussion of one or more of the essays during the final exam.
Sedi e date
Luogo
Inizio del corso
Inizio del corso
Opinioni
Programma
Elements of signals and systems: Laplace transform and its properties; representation of dynamic systems. Second-order systems and their modeling. Modeling of sensors and actuators. Matlab and simulink. Modelling a DC motor. Designing controllers using root locus. Design PID controllers in the frequency domain. Antiwindup. Elements of systems theory: controllability, pole placement. State feedback, feedforward tracking. Design of PID in state space. Design of estimators. Design of digital controllers. Modelling of flexible systems. Linear Quadratic Optimal Control (LQ). Robustness analysis and root locus in the SISO case for LQ control. Special cases: cheap LQ control. Design of weights in the LQ control. Integral control, tracking of the reference and
disturbance rejection.
Contents of the experimental part:
The course will consist of four laboratory experiments:
1) Control design in the continuous time of a PID controller and a state-space controller for a DC electric motor
2) Modeling of DC Motor, Digital PID control and state space of an electric motor
3) Control of a flexible joint via LQ optimal control and state estimators
4) Stabilization and control of a Segway via LQ optimal control and state estimators.
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CONTROL LABORATORY