D1 - Knowledge and understanding

The student, at the end of the course, should know the basic principles governing the behaviour of a closed-loop control system including the modes of behaviour of the basic elements of such a control system

D2 - Applying knowledge and understanding

The student should be able to carry out the static and dynamic analysis of basic linear closed-loop control systems and should also be able to design controllers such that the overall control system behaves according to pre-specified requirements with the support of specific computational tools.

D3 - Making judgements

The student should be able to evaluate, among several options, how to configure and design the architecture and the controller of an automatic control system starting from requirements and considering technological constraints.

D4 - Communication skills

The student should be able to describe in a clear and plain way the functionalities of a control system with the correct use of technical terminology.

D5 - Learning skills

The student should be able to read and understand reference textbooks on systems and control.

Calculus basics with specific reference to differential equations, complex variable
functions and linear algebra.

1. Introduction to automatic control problems

2. Dynamic models. The linear and the nonlinear cases and tools for analysis and time-domain characterisation

3. Frequency response. Analytical and graphical methods and tools

4. Sampled-data systems. Time-domain sampling and approximate characterisations

5. Analysis and design of automatic control systems. Analytical and graphical methods and tools

6. Computational tools

P.BOLZERN, R.SCATTOLINI, N.SCHIAVONI : "Fondamenti di controlli
automatici", McGraw Hill Libri Italia, III Edizione (in italian), available in
the university library

1. Introduction to automatic control problems

Objectives of automatic control. Examples in the engineering context of
automatic control problems. Transient and steady-state performances of
control systems. Types and elements of an automatic control system
(open-loop, closed-loop, compensation, regulators, sensors, actuators).
Definition of discrete-time signal and motivations for the use of discrete-time
control systems.

2. Dynamic models. The linear and the nonlinear cases and tools for analysis and time-domain characterisation

Continuous-time and discrete-time linear systems: time-domain and
transfer function models, stability. Step-response (with emphasis on first and
second-order systems), block schemes. Nonlinear systems:
linearization around equilibria, stability of equilibria. Mathematical
description of significant engineering systems in continuous- and
discrete-time.

3. Frequency response. Analytical and graphical methods and tools

Definition and basic properties of frequency response and relations with
transfer function models. Polar and Bode diagrams. Relations between
frequency response and time response. Interpretation of linear systems
as filters.

4. . Time-domain sampling and approximate characterisations

Sampling process, aliasing, choice of sampling time. Continuous-discrete
conversion approximate techniques: implicit Euler method, Tustin
transform.

5. Analysis and design of automatic control systems. Analytical and graphical methods and tools

Control systems requirements: stability, precision (steady-state error,
response speed, overshoot), disturbance compensation, robustness.
Stability analysis: Nyquist and Bode criteria. Root locus as analysis tool in the complex plane. Performance analysis and
relation with loop-transfer function characteristics. Design of continuous
time regulators using the Bode and the root locus methods. Design of sampled-data
controllers by discretization of continuous-time controllers: use of
continuous-discrete conversion approximate techniques.

6. Computational Tools

Introduction to Matlab and to the use of live scripts and Control Systems Designer for the analysis and design of automatic control systems. A glimpse on Simulink as a simulation tool for control systems.

A "flipped teaching" approach will be followed, namely asking the students to look in advance at the methodological material made available and dealt with in the specific lecture. During the lectures, "hands-on" exercises using Matlab live-scripts are also proposed and discussed in an interactive way during the lectures (to encourage an active engagement of the students). In addition, further live-scripts are made available as stand-alone exercises, so that students can apply and fully understand the concepts and the computational tools illustrated during the lectures, via hands-on experimentation through guided examples.

On the Microsoft Teams platform on which all students are automatically enrolled by the education administration of the University, the slides used in the lectures are made available in advance in a printable form for the students’ convenience in order to enhance the concept transfer during lectures. On Microsoft Teams, the livescripts of the guided examples are made available as well

The objective of the course is to provide the basic elements of the theory of dynamic systems in the continuous- and discrete-time contexts and of the basic techniques to design automatic control systems also with the support of specific computational tools and of interest in engineering contexts.

The course is designed to be suitable for students of Industrial Engineering and Electronic and Computer Engineering.

Partial Tests

Two partial tests are carried out to evaluate the competences acquired by the students enrolled in the course.
Only students attending the course for first time in the academic year 2024-2025 are admitted to the partial tests in the academic year 2024-2025.
The partial tests are strictly personal and group work is not allowed.

Each partial evaluation consists in the solution of specific problems via the creation of Matlab code and, when required, an explanation of the solution method.

The partial tests have an open-book format and are carried out by the students during the course timetable in a suitable lecture room provided with computers.

The first partial test has a duration of one hour, is carried out in the “Matlab Grader” platform, and focuses on the following topics:
Elements of Systems Theory; Stability of Dynamic Systems; Transfer Functions.
The second partial test has a duration of one hour and a half, is carried out in the “Matlab Online” platform, and focuses on the following topics:
Analysis and Design of Control Systems.

The partial evaluations contribute to the final marks according to the following rules:
If final cumulative mark Ptot of the two intermediate tests is >=18/30, the following options are available at the student discretion:
Option 1: Agree in Esse3 on the final mark Ptot and register the mark
Option 2: Carry out an additional (open book) partial written examination with a duration of one hour and with a maximum additional mark to Ptot equal to 5/30. The registration of the cumulative mark is at the student discretion. If Ptot (with or without the additional oral examination) is > 30/30 the registered mark is 30/30 with honours.
Option 3: Carry out the full examination described in the following.
Expiration: using the partial tests cumulative mark Ptot is allowed during the current academic year (for the academic year 2024/2025 until the end of the examination session in February 2026). When the exam sessions of the current academic year are over, the cumulative mark Ptot expires.

Full exam

The full exam is strictly personal and group work is not allowed.
The exam is made of Part 1 and Part 2 both aimed at evaluating the competences acquired by the students enrolled in the course.

Each of the two parts consists in the solution of specific problems via the creation of Matlab code and, when required, an explanation of the solution method.

The two parts have an open-book format and are carried on dates selected in advance during the academic year in a suitable lecture room provided with computers and specific software.
Part 1 has a duration of one hour, is carried out in the “Matlab Grader” platform, and focuses on the following topics:
Elements of Systems Theory; Stability of Dynamic Systems; Transfer Functions.
Part 2 has a duration of one hour and a half, is carried out in the “Matlab Online” platform, and focuses on the following topics:
Analysis and Design of Control Systems.

Part 1 and 2 evaluations contribute to the final marks according to the following rules:
If final cumulative mark Ptot of the two intermediate tests is >=18/30, the following options are available at the student discretion:
Option 1: Agree in Esse3 on the final mark Ptot and register the mark
Option 2: Carry out an additional (open book) partial written examination at any future time with a duration of one hour and with a maximum additional mark to Ptot equal to 5/30. If Ptot (with or without the additional oral examination) is > 30/30 the registered mark is 30/30 with honours. The registration of the cumulative mark is at the student discretion.

This course explores topics closely related to one or more goals of the United Nations 2030 Agenda for Sustainable Development (SDGs)