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degree courses
Second cycle
degree courses
Single cycle
degree courses
School of Engineering
MECHATRONIC ENGINEERING
Course unit
OPTIMAL AND ADAPTIVE CONTROL (MOD.B)
INP5070927, 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
MECHATRONIC ENGINEERING
IN0529, Degree course structure A.Y. 2011/12, A.Y. 2019/20
N0
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Number of ECTS credits allocated 6.0
Type of assessment Mark
Course unit English denomination OPTIMAL AND ADAPTIVE CONTROL (MOD.B)
Department of reference Department of Management and Engineering
Mandatory attendance No
Language of instruction Italian
Branch VICENZA

Lecturers
Teacher in charge LUCA SCHENATO ING-INF/04

Integrated course for this unit
Course unit code Course unit name Teacher in charge
INP5070926 SYSTEMS THEORY AND OPTIMAL AND ADAPTIVE CONTROL (C.I.) LUCA SCHENATO

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

Course unit organization
Period Annual
Year 1st Year
Teaching method frontal

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

Calendar
Start of activities 23/09/2019
End of activities 20/06/2020
Show course schedule 2019/20 Reg.2011 course timetable

Examination board
Examination board not defined

Syllabus

Common characteristics of the Integrated Course unit

Prerequisites: For the successful achievement of the objectives set, knowledge of Signals and Systems (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) is required, as well as knowledge about Linear Algebra and Geometry (vector spaces, linear functions, matrices and their applications in geometry).
For students coming from the Meccatronica Engineering Degree course of the University of Padua, the courses of Signals and Systems, Automatic Controls and Fundamentals of Linear Algebra and Geometry in the Three-year Degree are considered as prerequisites.
Target skills and knowledge: The course aims to teach students the knowledge of some fundamental techniques of advanced control of dynamic systems.
In particular, the study of dynamic systems, in the state-variable framework, will be analyzed in depth, giving ample space for in-depth analysis of the basic techniques for their control.
During the course, skills will be acquired that will allow the student to deal with:
- the synthesis of controllers that meet optimality requirements
- the synthesis of controllers able to adapt to the variability of some of the process model parameters
- the understanding, with the help of numerical laboratory experiments, of the benefits, implementation difficulties and limitations of the control techniques mentioned above
Examination methods: The verification of the expected knowledge and skills is carried out through a written test (for the Systems Theory module), in which the student will have to demonstrate his/her ability to apply the methodologies to simple numerical examples, and through an oral exam (for the optimal and adaptive control module), during which the student have to demonstrate the knowledge of the theoretical aspects discussed in the course. During the oral examination, (individual) written reports will also be discussed as a commentary on laboratory activities.
Assessment criteria: The written test aims to evaluate the ability to apply the theoretical knowledge acquired to the solution of non-abstract problems, even if simplified and exemplified.

The oral exam aims to evaluate the ability to deal with methodological rigor the study of complex subjects and the completeness of the preparation acquired in the integrated course.

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

The final mark will consist of the weighted average of the marks assigned to the written and the oral exams.

Specific characteristics of the Module

Course unit contents: Synthesis of the regulator according to the Linear Quadratic optimal control approach. Optimal control for finite horizon. Differential equation of Riccati, its solution and properties. Optimal control for Infinite Horizon. Riccati's algebraic equation, its solution and properties. Controller calibration techniques. LQ control for a inverse pendulum (numerical laboratory experience). Parameter analysis with least squares, recursive least squares, and weighted least squares. Estimation of parameter uncertainties. Control design based on identified parameters. Application to the control of an electric motor (numerical laboratory experience).
Planned learning activities and teaching methods: In the classroom, both the theoretical lessons and the analysis of the case studies covered by the laboratory exercises will take place. 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).
In-depth studies will be carried out on selected topics and a written record will be provided on the activities to be carried out and documented.
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)
  • Brian Anderson, John Moore, Optimal control: Linear quadratic methods. --: Dover Books on Engineering, 2007. Cerca nel catalogo
  • K. Astrom, B. Wittenmark, Adaptive Control. Reading, MA: Addison-Wesley, 1995. 2nd Edition (per consultazione) Cerca nel catalogo
  • luca schenato, dispense fornite dal docente. --: --, --.

Innovative teaching methods: Teaching and learning strategies
  • Lecturing
  • Laboratory
  • Problem based learning
  • Case study
  • Working in group
  • Problem solving
  • Loading of files and pages (web pages, Moodle, ...)

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