CONTROL SYSTEMS

Credits

9 credits ECTS

Syllabus and textbooks

Mathematical Models. State space representations. Linear models. Nonlinear models and its linearization around equilibrium points and solutions.

TIme domain analysis. Output and state free response. Natural modes and modal decomposition. State and output forced response. Impulsive and step response. Rise time, settling time and maximal overshooting and undershooting.

Frequancy domain analysis. Fundamental properties of Laplace transform and most used transforms. Transfer functions. Input-output models.

Stability of linear systems: main notions and criteria. Routh criterion.

Bode plots. Armonic response. Steady state and transient response with sinusoidal and polynomial inputs.

Controllability and observability. Controllability and observability matrices and Grammians. Hautus tests for controllability and observability.

Time domain design. Eigenvalue assignment and state estimation and reconstruction. Steady state performances: output regulation and regulator equations.

Interconnected systems: series, parallel and feedback interconnections. General properties of feedback interconnections. Zero-pole cancellations.

Stability of linear feedback systems. Polar plots and Nyquist criterion.

Frequency domain design. Proportional, derivative and integral control actions. Steady state performance: tracking and disturbance compensation. Transient performances: phase margin and cross-over frequency versus cut-off frequency and resonce peak. Zero-pole control actions for phase margin and cross-over frequency modification.

Root-locus. Stabilization and pole assignment with root-locus methods.

TEXTBOOK

The lessons cover the contents of the above book except for:

- proof propositions 6.2.3, 6.2.4, 6.2.5

- proof theorems 6.2.1, 7.0.1

- paragraph 7.3

- chapter 9 except definitions of controllability matrix,

observability matrix, controllable and observable systems.

- proof lemma 10.1.1 and 10.1.2, proposition 10.2.1

- proof propositions 10.4.1

-proof proposition 14.2.2

- proof rules (V) and (VI) paragraph 16.1

- paragraph 16.3.5

- all proofs of the appendices A,B,C,D.

SUPPLEMENTARY EXERCISE TEXTBOOKS (optional)

SUPPLEMENTARY TEXTBOOKS (optional)


Tutoring course

A tutoring course will be held in parallel with the regular course, starting from the second week. The course will be structured into 2 slots per week: the first slot (3 hours) will cover practical aspects of the theoretical topics learned during the regular lessons (detailed exercises and practical applications), the second slot will cover answers to student's doubts and repetitions of theoretical topics covered during the regular lessons. The first slot is strongly advised for better understanding of the practical aspects of the subject (exercises), while the second slot is open to students willing to clarify doubts and being supported in the understanding of the subject. Timetable of the tutoring course will be soon available.

Exams

EXAM INFO

EXAM STRUCTURE: The exam is divided into 2 parts: a written part on the topics covered in the course (see the syllabus), consisting of 3/4 written exercizes, and the discussion of a project (see list of available projects below). The written part and the discussion of the project are done separately. For the discussion of the project is mandatory to pass the written exam with a sufficient grade (>= 18/30). In this case, the discussion of the project will be held according to the teacher's schedule which will be provided together with the results of the written part. The final grade is obtained from the following formula:

FINAL GRADE = (WRITTEN EXAM)*(2/3) + (PROJECT)*(1/3)

The final grade may be not sufficient (<18/30) for passing the exam.

PROJECT DESCRIPTION: Each project is focused on specific theoretical topics and practical aerospace applications studied and pioneered in scientific papers.

PROJECT REPORTS: a detailed written report must be produced on the assigned paper, proving a complete understanding of the technical solutions and simulations given in the paper and using detailed technical discussions and motivations. Minimum length: 6 pages. Maximum length: 12 pages (examples of project reports are included below after the list of projects). Examples of project reports are given below.

PROJECT ASSIGNMENT: Each project is assigned to a maximum number of 6 students (each student must produce a different report). Once a project is chosen by 6 students (and approved for assignment) it is not available any more for assignment. A project assignment request is applied for by sending a mail to battilotti@diag.uniroma1.it including the name of the student, student number and the identification number and title of the project. A notification for the assignment will be sent asap.

DEADLINES: There is no deadline for assignment requests.

WRITTEN EXAMS (in english, only text)

2.2.2018(B)
7.4.2018
14.9.2018
27.10.2018
8.1.2019(B)
5.2.2019(B)
4.6.2019(B)
16.9.2019
26.10.2019

WRITTEN EXAMS (in english, text+solution)

9.1.2018(A) (text, solution)
2.2.2018(A) (text, solution)
5.6.2018 (text, solution)

3.7.2018 (text, solution)
14.9.2018 (text, solution)
27.10.2018 (text, solution)

8.1.2019(A) (text, solution)
5.2.2019(A) (text, solution)
23.3.2019 (text, solution)
4.6.2019(A) (text, solution)
2.7.2019(A) (text, solution)

LIST OF AVAILABLE PROJECTS

ID # 1) Global Adaptive Output Feedback Tracking Control of an Unmanned Aerial Vehicle

ID # 2) Adaptive control of space station with control moment gyros

ID # 3)Robust Control Analysis Of a Gas-Turbine Aeroengine

ID # 4) Disturbance Observer-Based Robust Saturated Control for Spacecraft Proximity Maneuvers

ID # 5) Automatic Crosswind Flight of Tethered Wings for Airborne Wind Energy: Modeling, Control Design, and Experimental Results

ID # 6) Development of High Performance Aircraft Bleed Air Temperature Control System With Reduced Ram Air Usage

ID # 7) Autonomous Flight of the Rotorcraft-Based UAV Using RISE Feedback and NN Feedforward Terms

ID # 8) Control of an Aircraft Electric Fuel Pump Drive

ID # 9
)
Autopilot for ultra-light weight robotic birds

ID # 10) Dynamic scheduling of modern robust control autopilot design of missiles

ID # 11) Optimal disturbance rejection in missiles autopilot design using projective controls

ID # 12) Robust Hovering Control of a PVTOL Aircraft

ID # 13) Inner Loop Control of Supersonic Aircraft in the Presence of Aeroelastic Modes

ID # 14) Robust controllers for state stations momentum management

ID # 15) Accomodation of failures in F-16 aircraft using adaptive control

ID # 16) A Control Approach for Thrust-Propelled Underactuated Vehicles and its Application to VTOL Drones

ID # 17) A Sliding Mode Missile Pitch Autopilot Synthesis for High Angle of Attack Maneuvering

ID # 18) Minimum Sensitivity Controllers With Application to VTOL Aircraft

ID # 19)Globally stable nonlinear flight control system

ID # 20) An Optimal Proportional-Plus-Integral/Tracking Control Law for Aircraft Applications

ID # 21) VTOL Aircraft Control Output Tracking Sensitivity Design

ID # 22) Nonlinear Observer and Output Feedback Attitude Control of Spacecraft

ID # 23) Passivity-Based Adaptive Attitude Control of a Rigid Spacecraft

ID # 24) Adaptive Control Strategies for Flexible Space Structures

ID # 25) Robust Control Analysis Of A Gas-Turbine Aeroengine

ID # 26) Missile Autopilot Design Via Functional Inversion and Time-Scaled Transformation

ID # 27
)
Manual flight control with saturating actuators

ID # 28) Nonlinear Robust Disturbance Rejection Controllers for Rotating Stall and Surge in Axial Flow Compressors

ID # 29) Adaptive Control and Stabilization of Elastic Spacecraft

ID # 30) Impact Angle Control for Planar Engagements

ID # 31) LPV techniques for the control an inverted pendulum

ID # 32) Robust Flight Control Design with Handling Qualities Constraints Using Scheduled Linear Dynamic Inversion and Loop-Shaping

ID # 33) Autonomous formation flight

ID # 34) Nonlinear Autopilot for High Maneuverability of Bank-to-Turn Missiles

ID # 35) Damage-Mitigating Control of Aircraft for Enhanced Structural Durability

ID # 36
)
Robust Guidance for Electro-optical Missile

ID # 37) Energy Optimal Waypoint Guidance Synthesis for Antiship Missiles

ID # 38) A Robust Nonlinear Control Approach for Tip Position Tracking of Flexible Spacecraft

ID # 39) Gain-Scheduled Inverse Optimal Satellite Attitude Control

ID # 40) Robust H∞ Autopilot Design for Agile Missile With Time-Varying Parameters

ID # 41) Force and Moment Blending Control for Fast Response of Agile Dual Missiles

ID # 42) Trajectory Tracking for Autonomous Vehicles: An Integrated Approach to Guidance and Control


EXAMPLES OF PROJECT REPORTS

ID EX # 1) An Introduction to Nonlinear Robust Control

for Unmanned Quadrotor Aircraft (project)

Project report example

ID EX # 2) A Control System for a Microgravity Isolation Mount (project)

Project report example

ID EX # 3) An Active Vertical-Direction Gravity Compensation System (project)

Project report example


Master degrees theses

Available thesis topics for master graduating students:

  1. Control of unmanned aerial vehicles
  2. Spacecraft proximity manouvers
  3. Autopilot design for missiles and aircraft
  4. Control of VTOL aircrafts and drones
  5. Failures detection and control in aircrafts
  6. Micro-gravity compensation
  7. Optimal performances in missile and aircraft flight control
  8. Quadratic filtering of glint noise in radar tracking

Support and auxiliary material

SUPPLEMENTARY MATERIAL FOR ANALYSIS (.pdf files)

SIMPLE MATLAB PROGRAMS (.m files)

SUPPLEMENTARY MATERIAL FOR SYNTHESIS (.pdf files)

Student hours: each Friday from 3 p.m. to 6 p.m. (Via Ariosto 25 - Room A207)

Attendance certificates (for work)

Forms must be downloaded, filled up and delivered to the teacher for sign.

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