CONTROL LABORATORY

Second cycle degree in AUTOMATION ENGINEERING

Campus: PADOVA

Language: English

Teaching period: Second Semester

Lecturer: LUCA SCHENATO

Number of ECTS credits allocated: 9


Syllabus
Prerequisites: The following classes:
- Foundations of Automatic Control
- Control Systems Theory
- Digital Control
Examination methods: 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

and a written report on the laboratory experiments and control desing techniques.
The essay will be corrected and discussed the day of the oral examination.
Course unit contents: 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.