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| SC Home |
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Welcome to accademic information page. |
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Here you can find info about the academic part of our SC. |
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Teachers |
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 prof.
Monaco Salvatore |
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prof.
Di Giamberardino Paolo |
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prof.ssa
Califano Clauia |
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Preliminary programme of the course |
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Download it: program.zip
5 kb |
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Non-linear dynamics: a geometric
approach |
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Objective: Non-linear
systems have many applications. Several phenomena and physical principles
can be modelled by non-linear equations. Today, the basis of non-linear
control can be proposed to non-specialist people by following the classical
control methods by means of the geometric approach of non-linear systems,
affine in the control variables. |
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- Coordinates change and non-linear representations.
- The input-output linearization problem via static state feedback.
- Structures and local decompositions for non-linear systems affine
in the control: the differential geometry allows to extend some intuitive
geometric concepts.
- The input-state linearization problem via static state feedback.
- The maximal linearizable subsystem.
- Stability and stabilization problems
- Links with linear systems and the direct synthesis methods based
on the transfer functions.
- The disturbance rejection problem with/without the disturbance measurements.
- The tracking problem and the model matching.
- The multivariable input-output decoupling problem. Non-interactive
control.
- A case study: the satellite attitude control problem in a geo-stationary
orbit.
- Stabilization on an elliptic orbit around a Lagrangian point of
the Hearth – Moon system.
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Discrete-time control |
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Objective: Recalls
on the main techniques – the direct and indirect synthesis methods as
an extension to the non-linear context. |
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- A discrete time control scheme: the components - part I
- A discrete time control scheme: the components - part II
- A synthesis of the discretization methods of continuous time filters:
stability problems.
- Pre-compensation techniques: discrete time control through an indirect
approach.
- Discretization techniques in the time domain and in the complex
variables domain.
- Multirate discretization: its use in the discrete time control.
- Direct discrete time control. Minimum time control, dead beat control...
- Non-linear discretization techniques.
- Non-linear discrete time control.
- An approach based on the multiple sampling.
- A case study: Attitude control of a satellite.
- A case study: a mobile robot.
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Control of dynamical systems: a geometric
approach |
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Objective: we present
the main results in linear multivariable control theory with a geometric
approach. This allows an intuitive comprehension of the extension to the
non-linear case. |
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- Recalls on the accessibility and observability properties: geometric
study. Invariant structures.
- Multivariable canonical forms and the eigenvalues assignment problem.
- State reconstruction and observer theory. The eigenvalues assignment
problem via output feedback. The separation principle.
- The eigenvalues assignment problem with an optimal approach. The
zero placement of control systems.
- Invariant subspaces – algorithms.
- The disturbance rejection problem.
- The tracking problem and the model matching.
- Non-interacting control.
- Non-interacting control with stability.
- The regulation problem.
- The state feedback solution.
- The output feedback solution and robust regulation.
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Edizione Italiana