Studying at the University of Verona
Here you can find information on the organisational aspects of the Programme, lecture timetables, learning activities and useful contact details for your time at the University, from enrolment to graduation.
Type D and Type F activities
Nella scelta delle attività di tipo D, gli studenti dovranno tener presente che in sede di approvazione si terrà conto della coerenza delle loro scelte con il progetto formativo del loro piano di studio e dell'adeguatezza delle motivazioni eventualmente fornite.
| years | Modules | TAF | Teacher |
|---|---|---|---|
| 1° 2° | Matlab-Simulink programming | D |
Bogdan Mihai Maris
(Coordinator)
|
| years | Modules | TAF | Teacher |
|---|---|---|---|
| 1° 2° | Introduction to 3D printing | D |
Franco Fummi
(Coordinator)
|
| 1° 2° | Python programming language | D |
Vittoria Cozza
(Coordinator)
|
| 1° 2° | HW components design on FPGA | D |
Franco Fummi
(Coordinator)
|
| 1° 2° | Rapid prototyping on Arduino | D |
Franco Fummi
(Coordinator)
|
| 1° 2° | Protection of intangible assets (SW and invention)between industrial law and copyright | D |
Roberto Giacobazzi
(Coordinator)
|
| years | Modules | TAF | Teacher |
|---|---|---|---|
| 1° 2° | The fashion lab (1 ECTS) | D |
Maria Caterina Baruffi
(Coordinator)
|
| 1° 2° | The course provides an introduction to blockchain technology. It focuses on the technology behind Bitcoin, Ethereum, Tendermint and Hotmoka. | D |
Nicola Fausto Spoto
(Coordinator)
|
Advanced control systems (2020/2021)
Teaching code
4S009008
Teacher
Coordinator
Credits
6
Language
English
Scientific Disciplinary Sector (SSD)
ING-INF/04 - SYSTEMS AND CONTROL ENGINEERING
Period
I semestre dal Oct 1, 2020 al Jan 29, 2021.
Learning outcomes
The course aims to provide the following knowledge: theoretical and practical tools for modeling, analyzing and controlling a complex dynamic system using the most modern techniques based on the theory of nonlinear systems and optimization.
At the end of the course the student will have to demonstrate that s/he has the following skills to apply the acquired knowledge:
- ability to model and analyze a dynamic system, even non-linear;
- ability to design (linear and/or nonlinear) controllers and observers based on optimality principles;
- ability to model a complex nonlinear dynamic system and to analyze its properties;
- ability to design a controller solving an optimal control problem and/or exploiting the theory of passivity;
- ability to deal with problems of estimation and identification;
- ability to synthesize a controller for complex mechatronic systems, possibly non-linear and/or time-varying;
- ability to continue studies independently in the context of advanced control systems.
Student must also have the ability to define the technical specifications for designing an advanced controller for complex dynamic systems described by differential or difference equations.
Student will have to be able to deal with other engineers (e.g. electronic, automatic, mechanical) to design advanced controllers for complex mechatronic systems.
Student will have to show ability to continue its studies independently in the field of linear and non-linear controller design.
Program
Topics that will be addressed during the course:
- manipulator dynamics
- motion control
- force control (force and impedance)
Topics that will be addressed during the lab activity:
- Implementation of the dynamic model of a 6 degree-of-freedom robot
- Implementation of architectures for motion control
- Implementation of architectures for force control
| Author | Title | Publishing house | Year | ISBN | Notes |
|---|---|---|---|---|---|
| B. Siciliano, L. Sciavicco, L. Villani, G. Oriolo | Robotics: Modelling, Planning and Control | Springer | 2009 |
Examination Methods
The exam will consist of a project addressing some topics discussed during the course. The student should have to implement in Matlab/Simulink (and/or in ROS) the project, test it, and prepare a brief technical document explaining his/her work.
To pass the exam, the student should:
- have understood the principles related to the design of an advanced control systems,
- be able to use the knowledge acquired during the course to solve the assigned problem,
- be able to describe their work by explaining and motivating the design choices.
