First cycle
degree courses
Second cycle
degree courses
Single cycle
degree courses
School of Engineering
AUTOMATION ENGINEERING
Course unit
CONTROL LABORATORY
INP5070516, A.A. 2017/18

Information concerning the students who enrolled in A.Y. 2017/18

Information on the course unit
Degree course Second cycle degree in
AUTOMATION ENGINEERING
IN0527, Degree course structure A.Y. 2008/09, A.Y. 2017/18
N0
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Number of ECTS credits allocated 9.0
Type of assessment Mark
Course unit English denomination CONTROL LABORATORY
Department of reference Department of Information Engineering
Mandatory attendance No
Language of instruction English
Branch PADOVA

Lecturers
Teacher in charge LUCA SCHENATO ING-INF/04

Mutuated
Course unit code Course unit name Teacher in charge Degree course code
INP5070516 CONTROL LABORATORY LUCA SCHENATO IN0520

ECTS: details
Type Scientific-Disciplinary Sector Credits allocated
Core courses ING-INF/04 Automatics 9.0

Mode of delivery (when and how)
Period Second semester
Year 1st Year
Teaching method frontal

Organisation of didactics
Type of hours Credits Hours of
teaching
Hours of
Individual study
Shifts
Lecture 9.0 72 153.0 No turn

Calendar
Start of activities 26/02/2018
End of activities 01/06/2018

Syllabus
Prerequisites: The following classes:
- Foundations of Automatic Control
- Control Systems Theory
- Digital Control
Target skills and knowledge: -) Application of design techniques for control systems presented in previous courses (Automatic Control and Systems Theory) on a real control system.
-) Design Techniques to compensate for non-ideal components.
-) Performance testing of controllers via simulation in Matlab and Simulink
-) Experimental verification of the performance of controllers on a voltage controlled DC electric motor .
-) Development and writing of tecnical reports.
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.
Assessment criteria: -) Learning the concepts presented in the classroom.

-) Ability to address the problems related to the modeling and to the practical implementation of advanced control systems through the implementation in the laboratory of a typical control system in industrial automation.

-) Ability to write the technical report in a clear and comprehensive manner.
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.
Planned learning activities and teaching methods: The course includes theoretical lessons, computer lab using the MATLAB toolbox "Control Systems" and "Simulink" and experimental laboratory for the control of a DC electric motor. Specifically, the laboratory labs will include:
-) The synthesis of a PID controller in frequency domain;
-) The synthesis of a PID controller in state-space domain;
-) The synthesis of digital controllers;
-) The synthesis of a LQ controller using optimal control.
Additional notes about suggested reading: Lecture notes, handouts in class and the following texbook
Title: "Feedback Control of Dynamical Systems"
Authors: Gene F. Franklin, J. David Powell, Abbas Emami-Naeini
Textbooks (and optional supplementary readings)
  • Gene F. Franklin, J. David Powell, Abbas Emami-Naeini, Feedback control of Dynamical Systems. --: Pearson Education, 2014. previous editions are OK