First cycle
degree courses
Second cycle
degree courses
Single cycle
degree courses
School of Engineering
Course unit
INO2043163, A.A. 2019/20

Information concerning the students who enrolled in A.Y. 2018/19

Information on the course unit
Degree course Second cycle degree in
IN0529, Degree course structure A.Y. 2011/12, A.Y. 2019/20
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Number of ECTS credits allocated 6.0
Type of assessment Mark
Course unit English denomination CONTROL SYSTEMS DESIGN
Department of reference Department of Management and Engineering
Mandatory attendance No
Language of instruction Italian
Single Course unit The Course unit can be attended under the option Single Course unit attendance
Optional Course unit The Course unit can be chosen as Optional Course unit

Teacher in charge ROBERTO OBOE ING-INF/04

ECTS: details
Type Scientific-Disciplinary Sector Credits allocated
Core courses ING-INF/04 Automatics 6.0

Course unit organization
Period Second semester
Year 2nd Year
Teaching method frontal

Type of hours Credits Teaching
Hours of
Individual study
Lecture 6.0 48 102.0 No turn

Start of activities 02/03/2020
End of activities 12/06/2020
Show course schedule 2019/20 Reg.2011 course timetable

Examination board
Board From To Members of the board
7 2019 01/10/2019 15/03/2021 OBOE ROBERTO (Presidente)
6 2018 01/10/2018 15/03/2020 OBOE ROBERTO (Presidente)
ZAMPIERI SANDRO (Membro Effettivo)

Prerequisites: For the successful achievement of the objectives set, basic knowledge of Signals and Systems is required (study of signals and linear systems, analysis of signals and systems in the time and frequency domain) and Automatic Controls (Feedback systems, stability analysis, synthesis of regulators, both in continuous and discrete time domain), as well as knowledge about the state-space approach to the control of linear dynamic systems (state feedback, asymptotic estimators and optimal control).

For students coming from the Degree Course in Mechatronic Engineering of the University of Padua, the Signals and Systems and Automatic Control courses in the Three-year Degree Course and the course on System Theory and Optimal and Adaptive Control in the Master's Degree are considered as prerequisites.
Target skills and knowledge: The course aims to bring students to an in-depth knowledge of the engineering approach to the design of a control system. To this end, students will acquire specific skills on:
- the application of digital control techniques to typical mechatronic devices
- the application of some advanced methodologies for the design of motion control systems in mechatronic applications.
- the understanding, with the help of laboratory experiments, of the benefits, the difficulties of implementation and the limits of modern control techniques.
Examination methods: The verification of knowledge and expected skills is carried out with an oral test, during which the student must demonstrate knowledge of the theoretical aspects discussed in the course, as well as their application to simple case studies.
At the end of the oral examination, individually written reports will also be discussed as a commentary on laboratory activities.
Assessment criteria: The oral exam aims to evaluate:
- Completeness of the theoretical knowledge acquired in the field of modern control
- Ability to apply theoretical knowledge to problems typical of mechatronic applications.
- Exposure capacity and rigorousness in the treatment and exposure of issues.

Laboratory reports will be evaluated on the basis of:
- Completeness
- Exhibition clarity
- Ability to critically analyze the results

The final grade will be the weighted average of the ratings assigned to the lab reports and oral test, respectively with weights 30/100 and 70/100.
Course unit contents: The specific contents of the course can be summarized in the following points:

- Engineering approach to the design of control systems: analysis, modeling, identification, design, simulation, implementation and experimental verification
- Digital control systems: discretization of continuous time systems, zeros of sampled data systems, modeling of delays
- Optimal control in discrete time: minimization of cost indices over the finite and infinite time horizon
- Estimators of inaccessible inputs and their applications to disturbance estimation: augmented systems and compensation for equivalent disturbances
- Kalman filter: optimal estimation and its experimental calibration
- High precision control techniques: repetitive control, iterative learning control, zero-phase tracking error control.
For some of the arguments, there will be experimental investigations in the laboratory
Planned learning activities and teaching methods: Both the theoretical lessons and the analysis of case studies will take place in the classroom. Topics will be presented both in a classical way, with the use of a blackboard, and with the help of audiovisual tools and simulation programs (Matlab).
Examples of study and homework will be made available on Moodle and used for personal study.
During laboratory sessions, hands-on activities will be carried out on selected topics and a written guide will be provided on the activities to be done.
Additional notes about suggested reading: All the teaching material presented during the lessons will be made available on the moodle platform.
The study material includes:
- notes and lecture notes
- articles from international journals.
Textbooks (and optional supplementary readings)
  • Åström, Karl Johan; Wittenmark, Bjorn, Computer-controlled systems - theory and design. Upper Saddle River: N.J., Prentice-Hall, --. Per consultazione Cerca nel catalogo
  • Oboe, Roberto, Ingegneria e tecnologia dei sistemi di controllo - appunti dalle lezioni. Padova: CUSL nuova vita, 1999. Per consultazione Cerca nel catalogo
  • Franklin, Gene F.; Workman, Michael L., Digital control of dynamic systems. Menlo Park [etc.]: Addison Wesley, --. Per consultazione Cerca nel catalogo

Innovative teaching methods: Teaching and learning strategies
  • Lecturing
  • Laboratory
  • Case study
  • Use of online videos
  • Loading of files and pages (web pages, Moodle, ...)

Innovative teaching methods: Software or applications used
  • Moodle (files, quizzes, workshops, ...)
  • One Note (digital ink)
  • Kaltura (desktop video shooting, file loading on MyMedia Unipd)
  • Matlab