AUTOMATIC CONTROLAndrea M. Zanchettin, PhDWinter Semester, 2018

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Contact detailsAndrea Zanchettin

Dipartimento di Elettronica, Informazione e Bioingegneriavia Ponzio 34/5 – 20133 Milano (Leonardo Campus)

Room 247, Building 20 (second floor)Office hours: anytime you want, request via email

Office: (+39 02 2399) 4025Email: andreamaria{DOT}zanchettin{AT}polimi{DOT}it

Web: http://home.deib.polimi.it/zanchettin

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Course material and textbooksCourse material• Slides available on website (prior to each lecture)• Your notes!• Past exams (from other courses)

Optional textbooks• Paolo Bolzern, Riccardo Scattolini, Nicola Schiavoni, Fondamenti di

controlli automatici• Gene F. Franklin, J. Da Powell, Abbas Emami-Naeini, Feedback

Control of Dynamic Systems• Norman S. Nise, Control Systems Engineering• Karl Johan Astrom and Richard M. Murray, Feedback systems - An

Introduction for Scientists and Engineershttp://www.cds.caltech.edu/~murray/books/AM05/pdf/am08-complete_22Feb09.pdf

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EvaluationsWritten exam up to 32 pts. consisting of• exercises (typically 4)• few questions (typically 1)to be done in 2 hrs, with closed books.

No oral examinations

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Program10 ECTS corresponding to 100 class hours

• 66 hours of lectures• 24 hours of seminars and exercises

• typically on the blackboard• 10 hours of lab

• with laptop (Matlab/Simulnk)

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by Mr. Riccardo Maderna(PhD student)

BackgroundBackground:• Math, Calculus and Linear Algebra (complex numbers,

matrices, and differential equations)• Knowledge on basic engineering disciplines (electrical

circuits, simple mechanical systems)

No specific background is needed, however• basic notions on system theory (e.g. from bachelor

courses) are useful

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A very simple example

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Input Output

Pedal position, u

Spee

d, y

fitting

Pedal position, u

Spee

d, y

A very simple example – cont’d

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Input Output

Input Output

Disturbance:

Variability of parameters

A very simple example – cont’d

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Input Output

Desired outputif output < desiredincrease input

else if output > desired decrease input

A very simple example – cont’d

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https://www.youtube.com/watch?v=u1pgaJHiiew

Closed-loop vs. open-loopWe have seen two different solutions to our problem (tank level):• open-loop: no measurement is taken from the system during

operations;• closed-loop: the input is computed based on measurements

(feedback).

The open-loop solution does extremely depend on the quality of the model we have of the system we want to control. It istherefore very sensitive to i) uncertainties, ii) disturbances, etc.In turn, the closed-loop solution does not require an accurate model of the system to be controlled but it guarantees betterperformance. It clearly requires additional hardware to be in place (sensors!) during operations.

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What is automatic control?From Wikipedia (different entries)Control theory is an interdisciplinary branch of engineering and mathematics that deals with the behavior of dynamical systems with inputs, and how their behavior is modified by feedback. Automation isthe technology by which a process or procedure is performed withouthuman assistance.

From the definition, we notice three relevant concepts• dynamical systems and (their) behaviour• (which is) modified by feedback• implementation through technology

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What is automatic control?

https://www.youtube.com/watch?v=XJLMW6l303g

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Program overviewAutomatic Control A and B• Fundamentals of systems theory • Fundamentals of frequency domain and time domain

design• Fundamentals of digital control systems

Automatic Control A (only)• Software and hardware technologies for automation • A classical mechatronic case study: motion control

systems

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theory to practice