Degree Courses

• M.S. in Artificial Intelligence and Automation Engineering (Curriculum Robotics and Automation)
  (second module of Advanced Control Systems)

Instructors

• Marco Casini
• Office hours: upon request via e-mail (room 227)

News

Thesis

• Thesis and research opportunities

Contents

Classroom

• Absolute stability - Lecture notes ([NS] - Sections: 10.1, 10.1.1, 10.1.2)
• Feedback linearization - Lecture notes ([ANC] - Sections: 6.1, 6.2, 6.3, 6.4)
• Sliding mode control - Lecture notes ([ANC] - Sections: 7.1.1, 7.1.3 - [SMC] - Sections: 1.1, 1.2, 1.3, 1.4)

Laboratory

• Modeling of systems and software simulations
• Design and implementation of control techniques on simulated systems
• Design and implementation of control techniques on laboratory processes

Laboratory exercises

• Simple Pendulum (download pdf)
• Magnetic Levitation System (download pdf) - Maglev parameters - Maglev Simulink model
• Ball & Beam (download pdf) - B&B parameters - B&B Simulink model
• Inverted Pendulum (download pdf) - video

Reference textbooks

• [NS] H. Khalil, Nonlinear Systems (II edition), Prentice Hall, 2002.
• [ANC] J.J. E. Slotine, Applied Nonlinear Control, Prentice Hall, 1991.
• [SMC] Y. Shtessel, C. Edwards, L. Fridman, A. Levant, Sliding Mode Control and Observation, Birkäuser, 2014.