First cycle
degree courses
Second cycle
degree courses
Single cycle
degree courses
School of Engineering
Course unit
INP9087822, A.A. 2019/20

Information concerning the students who enrolled in A.Y. 2019/20

Information on the course unit
Degree course Second cycle degree in
IN0527, Degree course structure A.Y. 2008/09, A.Y. 2019/20
bring this page
with you
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
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 FRANCESCO TICOZZI ING-INF/04

Course unit code Course unit name Teacher in charge Degree course code

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

Course unit organization
Period Second semester
Year 1st Year
Teaching method frontal

Type of hours Credits Teaching
Hours of
Individual study
Laboratory 2.0 16 34.0 2
Lecture 7.0 56 119.0 No turn

Start of activities 02/03/2020
End of activities 12/06/2020
Show course schedule 2019/20 Reg.2008 course timetable

Prerequisites: The class needs notions and skills that are part of the previous courses on Automatic Control, System Theory, and Digital Control Systems.
Target skills and knowledge: The course aims to provide the students with the following notions and skills:
-) Ability to apply design techniques for control systems presented in previous courses (Automatic Control and Systems Theory) on a real control system.
-) Knowledge of design techniques that compensate for non-ideal components.
-) Performance testing of controller performance via simulation in Matlab and Simulink
-) Experimental verification of the performance of controllers on a voltage controlled DC electric motor .
-) Development and writing of technical reports.
Examination methods: 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.
Assessment criteria: The evaluation criteria that will be employed:

1) Completeness of the acquired knowledge;
2) Ability to properly use the acquired language and techniques;
3) Level of of confidence in mastering the concepts acquired in the course;
4) Effectiveness of the presentation and communication of the methods used;
5) Ability in writing a technical/scientific report;
Course unit contents: Contents of the theory parts:

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.
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 Cerca nel catalogo

Innovative teaching methods: Teaching and learning strategies
  • Lecturing
  • Laboratory
  • Working in group
  • Problem solving

Innovative teaching methods: Software or applications used
  • Moodle (files, quizzes, workshops, ...)
  • One Note (digital ink)
  • Matlab