Control theory (2019/2020)

Course code
Riccardo Muradore
Academic sector
Language of instruction
Teaching is organised as follows:
Activity Credits Period Academic staff Timetable
Teoria 3 I semestre Riccardo Muradore

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Laboratorio 3 I semestre Andrea Calanca

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Learning outcomes

The course aims to provide the theoretical and practical tools to model, analyze and control a dynamic system in the time and frequency domain.

At the end of the course the student will have acquired the following knowledge and skills:
- Ability to analyze the properties of a dynamic system in the time and frequency domain,
- Ability to evaluate the stability, robustness and performance of a feedback system,
- Ability to design a control system starting from the robustness and performance requirements,
- Ability to evaluate the feasibility of a control system and evaluate the most appropriate design method,
- Being able to deal with complementary professionals for the design of a complex control system,
- Ability to continue studies in the context of control systems with a sufficient degree of autonomy.


- Review: continuous LTI systems, discrete LTI systems, stability, frequency analysis
- Properties of feedback systems
- Requirements of a control system: stability, robustness and performance
- Stability analysis using root locus
- Stability analysis using Nyquist diagrams, Nyquist criterion
- Stability analysis using Bode diagrams, Bode criterion
- Synthesis using frequency shaping
- Synthesis of PID controllers
- Synthesis using pole placement
- Advanced control schemes (cascade control, feedforward control, anti wind-up)
- Digital control systems
- Synthesis of digital control systems using pole placement
- Discretization of continuous control systems

Matlab laboratory on frequency synthesis
Matlab laboratory on PID controllers
Matlab laboratory on advanced control schemes

Assessment methods and criteria

The exam will consist of a written test on the course topics. The exam will contain questions in the form of theoretical questions and exercises where it will be required to apply specific theoretical knowledge. Each question will contribute to the total score according to an additive metric that will be specified before the exam.

If the written test is evaluated positively, an optional oral test is foreseen, which will cover the theoretical part of the course. The overall score will be the mean of the oral and written tests scores.

Both tests (written and oral optional) will be aimed at understanding the theoretical arguments and the ability to apply logic schemes to specific problems.