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Piazzi, “A semi-infinite optimization approach to optimal spline trajectory planning of mechanical manipulators”, Chapter 13 in M. Nyquist and Bode plots, gain margin and phase margin. Relation between input-output and input-state-output representation. Theory and Applications, Birkhauser, Boston U. Piazzi, “Stability without eigenspaces in the geometric approach: Piazzi, “Decomposability of controlled invariants: Guarino Lo Bianco, A.

Transfer functions and block diagrams.

Piazzi, “Feedback systems stabilizability in terms of invariant zeros”, in A. Marro, editore Zanichelli, Capitolo 7, pp.

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State evaluation of dynamic systems. Continous-time and discrete-time models. Students repeating the exam will cojtrolli evaluated on the last given one. Piazzi, Controlli Automatici A: Didactic methods The teaching activity is organized so that the required knowledge is acquired during lectures.

Time-invariant and time-varying models. Passing the exam proves that the student has acquired the knowledge and abilities related to the analysis of linear dynamical systems and the design of simple control systems fulfilling both static and dynamic requirements, by means of the solution of numerical exercises and the selection of the correct answers to questions on theoretical aspects. Linear and nonlinear models. Guarino Lo Bianco, M. Personal use of this material is permitted.


Pinazzi, “Controllo di cottura alimentare in un forno industriale”, Automazione e Strumentazione, pp. Piazzi, “Geometric aspects of reduced-order compensators”, D. Applicazioni, tesi e approfondimenti. Piazzi, “An invariant zeros interpretation of the internal stability in the disturbance localization problem and its dual”, D. Eigenvalues and modes of oscillation.

Typical test signals for the time response of control systems.

Lecture Notes [1L] A. Some of these lectures will be dedicated to the solution of numerical exercises, similar to those that students are required to solve during the final exam. Fondamenti di Automatica Informazioni utili. Books suggested for optional in-depth analysis: Piazzi, “Using semi-infinite optimization for the steering of car-like vehicles”, in J. Recent Advances, Kluwer Academic Publishers, pp. Visioli, “Worst-case optimal noncausal motion planning for residual vibration reduction”, Proceedings of the European Control Conference, Kurlshure Germany30 August – 3 September Reference texts Lecture slides in Italian.

Marro, “The role of invariant zeros in multivariable system stability”, Proceedings of the first European Control Conference, Grenoble Francepublisher Hermes, vol. State transition matrix and its properties. Technical Reports [1R] A. Visioli, “Optimal system inversion based motion planning for servosystems with elastic transmission”, The 2nd International Conference on Recent Advances in Mechatronics, Istanbul Turkeypp.

Giovanni Marro (Author of Controlled And Conditioned Invariants In Linear System Theory)

In most cases, these works may not be reposted without the explicit permission of the copyright holder. Routh Hurwitz criterion, Nyquist criterion, stability margins. General properties of feedback systems.


Visioli, ” Minimum-time feedforward control for industrial processes “, Automaticii of the European Control Conference, Kos Greecepp. Romano, ” Smooth path generation for wheeled mobile robots using eta3-splines “, Chapter 4 in F.

Papers on International Journals [1J] A. Salta alla navigazione Strumenti personali. Learning assessment procedures The aim of the exam is to verify at which level the learning objectives previously described have been acquired.

Copyright and all rights therein are retained by authors or by other copyright holders. Papers and Chapters on Books [1C] G. Publications of Aurelio Piazzi Disclaimer: Stability of linear control systems: Guarino Lo Bianco and A. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright.

Persiani, “Modellazione di curve e superfici con le spline parametriche beta2”, Il Progettista Industriale, Edizioni Tecniche Nuove Milanoanno 12, n. A single lesson will be given in the Computer Science laboratory, to present an introduction to the use of Matlab for control systems design. Visioli, “LQ-based set-point constrained regulation of uncertain systems via dynamic inversion”, Proceedings of the European Control Conference, Porto Portugalpp. Piazzi, “Geometric approach to linear system analysis and sysnthesis”, su Identification, Control, Optimization of Dynamical Systems, Progress Report, pp.