Syllabus


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. 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 (with exercises)


S. Battilotti, Notes on Linear Control Systems, Esculapio, 2016, II ed.

Supplementary Textbooks (optional)


G. Marro, Controlli Automatici, V ed., Zanichelli.
A. Isidori, Sistemi di controllo, Siderea, 1979.
S. Monaco, Sistemi Lineari: Elementi di analisi, Progetto Leonardo ed., Bologna, 2000.
R. C. Dorf, R. H. Bishop, Controlli Automatici, Pearson, Prentice Hall, 2010.
O. M. Grasselli, L. Menini, S. Galeani, Sistemi Dinamici, Hoepli, IV ed., Milano, 2012.

Supplementary Exercise Textbooks (optional)


C. Gori Giorgi, S. Monaco, S. Battilotti, S. Di Gennaro, Teoria dei Sistemi: complementi ed esercizi, EuRoma.
L. Lanari, G. Oriolo, Controlli automatici: esercizi di sintesi, EuRoma.

Exam Info


The exam consists of a written test and a project discussion. Having passed the written test is mandatory for the project discussion. The project discussion can be held in a subsequent exam session.

Written Test


The written test consists of two or three exercises focused on the topics covered during the course. The allotted time for the test is 3 h. Below find a collection of past exams.

Exam Papers


2.2.2018(b)--(text)
7.4.2018--(text)
14.9.2018--(text)
27.10.2018--(text)
8.1.2019(b)--(text)
5.2.2019(b)--(text)
4.6.2019(b)--(text)
16.9.2019--(text)
26.10.2019--(text)
7.1.2020(a)--(text)
7.1.2020(b)--(text)
4.2.2020(a)--(text)
4.2.2020(b)--(text)
6.5.2020--(text)

4.6.2020--(text)
30.6.2020--(text)
1.9.2020--(text)

Exam Papers (with solutions)


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))
16.9.2019--((text), (solution))
26.10.2019--((text), (solution))

Project Discussion


Each project is focused on specific theoretical topics or practical applications of theoretical results, studied and pioneered in scientific papers.
The project consists of a detailed written report on the paper. In the report the student must demonstrate a complete understanding of the technical solutions and simulations given in the paper, providing detailed technical discussions and motivations.
Each project is assigned to at most 3 students (different reports for each student must be produced).
Upon teacher's prompt, a project assignment request must be sent via e-mail to battilotti@diag.uniroma1.it enclosing the name of the student(s) and his/her/their student number(s). The teacher will assign a project to the student(s) and a notification for the assignment with the project's identification number is sent immediately after.


Examples of Project reports


ID EX #1) Global Adaptive Output Feedback Tracking Control of an Unmanned Aerial Vehicle (project report example)

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

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


List of available projects


ID # 1) Global Adaptive Output Feedback Tracking Control of an Unmanned Aerial Vehicle (#1701513, #1704374, #1711417, #1701513, #1693971, #1716030, #1691785)
ID # 2) Adaptive control of space station with control moment gyros (#1746296), (#1678896), (#1747596, #1757970), (#1921455), (#1923901), (#1651153)
ID # 3) Robust Control Analysis Of a Gas-Turbine Aeroengine (#1916142, #1904355, #1903548, #1911522), (#1554486), (#1797363)
ID # 4) Disturbance Observer-Based Robust Saturated Control for Spacecraft Proximity Maneuvers (#1888019), (#1922139), (#1527205, #1666201)
ID # 5) Automatic Crosswind Flight of Tethered Wings for Airborne Wind Energy: Modeling, Control Design, and Experimental Results (#1758806), (#1733475), (#1742613), (#1748294), (#1715242), (#1743364)
ID # 6) Development of High Performance Aircraft Bleed Air Temperature Control System With Reduced Ram Air Usage (#1644988, #1603608), (#1759496), (#1777422)
ID # 7) Autonomous Flight of the Rotorcraft-Based UAV Using RISE Feedback and NN Feedforward Terms (#1710602, #1695958, #1693882), (#1744565), (#1659872), (#1664967) ID # 8) Control of an Aircraft Electric Fuel Pump Drive (#1898009, #1919837, #1896828, #1916182, #1923421), (#1924017)
ID # 9) Autopilot for ultra-light weight robotic birds (#1694198, #1703513, #1702571, #1450057), (#1743045)
, (#1707843)
ID # 10) Dynamic scheduling of modern robust control autopilot design of missiles (#1633957), (#1698244), (#1657540), (#1637442), (#1650613), (#1756906), (#1916523), (#1911396)
ID # 11) Optimal disturbance rejection in missiles autopilot design using projective controls (#1711518, #1698312, #1709311, #1717311), (#1702889
)
ID # 12) Robust Hovering Control of a PVTOL Aircraft (#1755311), (#1889799), (#1918117), (#1188548) ID # 13) Inner Loop Control of Supersonic Aircraft in the Presence of Aeroelastic Modes (#1754032), (#1761607), (#1701091), (#1594996), (#1658478, #1649403, #1651319)
ID # 14) Robust controllers for state stations momentum management (#1746296), (#1742794), (#1643321), (1609980#), (1608822#)
ID # 15) Accomodation of failures in F-16 aircraft using adaptive control (#1632877, #1758566, 1698195, #1916479, #1749516, #1048623), (#1695271)
ID # 16) A Control Approach for Thrust-Propelled Underactuated Vehicles and its Application to VTOL Drones (#1910546), (#1615772, #1618173)
ID # 17) A Sliding Mode Missile Pitch Autopilot Synthesis for High Angle of Attack Maneuvering (#1921498, #1921941, #1921856, #1922955, #1887346, #1923139), (#1785009)
ID # 18) Minimum Sensitivity Controllers With Application to VTOL Aircraft (#1644091)
ID # 19) Globally stable nonlinear flight control system (#1921611, #1922119), (#1549787)
ID # 20) An Optimal Proportional-Plus-Integral/Tracking Control Law for Aircraft Applications (#1603588), (#1656396)
, (#1708105)
ID # 21) VTOL Aircraft Control Output Tracking Sensitivity Design (#1602227, #1496667, #1916786, #1915741)
ID # 22) Nonlinear Observer and Output Feedback Attitude Control of Spacecraft (#1695232, #1654963, #1702206, #1656045, #1699757)
ID # 23) Passivity-Based Adaptive Attitude Control of a Rigid Spacecraft (#1760577, #1745016, #1759309)
ID # 24) Adaptive Control Strategies for Flexible Space Structures (#1703770), (#1773514, #1772338)
ID # 25) Robust Control Analysis Of A Gas-Turbine Aeroengine (#1753536), (#1699559, #1704609), (#1762636
), (#1613187), (#1615988)
ID # 26) Missile Autopilot Design Via Functional Inversion and Time-Scaled Transformation (#15533415), (#1896558, #1888934, #1707459, #1886184, #1887107, #1648490)
ID # 27) Manual flight control with saturating actuators (#1633303, #1642604, #1495009), (#1473582)
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 (#1760577), (#1709164), (#1915122), (#1744374), (#1692904), (#1098590)
ID # 30) Impact Angle Control for Planar Engagements (#1745500, #1745888, #1416360, #1758570, #1647376), (#1610606)
ID # 31) LPV techniques for the control an inverted pendulum (#1699646), (#1761713) ID # 32) Robust Flight Control Design with Handling Qualities Constraints Using Scheduled Linear Dynamic Inversion and Loop-Shaping (#1759611)
ID # 33) Autonomous formation flight (#1711417), (#1756799), (#1920091), (#1921060), (#1840661), (#1479604) , (#1850663)
ID # 34) Nonlinear Autopilot for High Maneuverability of Bank-to-Turn Missiles (#
1618630)
ID # 35) Damage-Mitigating Control of Aircraft for Enhanced Structural (#1699641, #1889788)
ID # 36) Robust Guidance for Electro-optical Missile (#1660997), (#1492151), (#1338506)
ID # 37) Energy Optimal Waypoint Guidance Synthesis for Antiship Missiles (#1748313), (#1752116), (#1764591), (#1765390), (#1744842), (#1744256)
ID # 38) A Robust Nonlinear Control Approach for Tip Position Tracking of Flexible Spacecraft (
# 1773841)
ID # 39) Gain-Scheduled Inverse Optimal Satellite Attitude Control
ID # 40) Robust H-infinity Autopilot Design for Agile Missile With Time-Varying Parameters (#1747447), (#1746266), (#1679812), (#1742641), (#1746107), (#1736720), (#1757520)
ID # 41) Force and Moment Blending Control for Fast Response of Agile Dual Missiles (#1743619, #1745443, #1758377, #1756417, #1743873), (#1604819)
ID # 42) Trajectory Tracking for Autonomous Vehicles: An Integrated Approach to Guidance and Control (# 1918856, #1748383, #1738803, #1694024), (#1822205
)

Supplementary Material


Semilogarithmic Charts (for Bode Plots)
Compensating functions chart (anticipative/attenuative functions)
Nichols chart (for Nichols Plots)

Certificates