M. Lovera  
  

 
 
 

 
 
advanced aerospace control

Welcome to the home page of the Advanced Aerospace Control course for the Aerospace Engineering programme.

The course aims at the following goals: to provide a sound background on modern methods and tools for the stability and performance analysis of linear and nonlinear systems; to cover robust analysis and design of SISO and MIMO linear time-invariant (LTI) feedback control systems; to discuss basic ideas on the linear parameter-varying (LPV) framework for gain-scheduled control systems design; to present classical results on nonlinear analysis; to illustrate the above methods using detailed case studies and seminars from industry.

The course is organised in one module of 6 cfu and will start on february 26 2018.

Schedule: the baseline is that only rhe monday and wednesday hours are used.

Presentation of the course

 
 
 
COURSE SCHEDULE 2017/18
 
Day Time Room
Monday 9.30-11.15  BL27.18
Tuesday 11.30-13.15 BL27.11
Wednesday 9.30-11.15   BL27.17
     
     
EXAM SCHEDULE
     
Day Room
     
     
     
     
     
     

 

 
    course program    
   

Part 0: introduction

  1. Motivation for advanced analysis and design methods.
  2. Introductory examples .

Part 1: systems theory - stability

  1. Equilibria of nonlinear systems.
  2. Lyapunov stability for equilibria of nonlinear systems: definition and examples.
  3. Stability for LTI systems: Lyapunov inequalities and equations.

Part 2: systems theory - performance

  1. H2 performance for linear systems.
  2. Small gain and passivity theory.
  3. H performance for linear systems.

Part 3: linear SISO feedback systems - robust analysis and design

  1. Uncertainty modelling in SISO systems.
  2. Robust stability analysis of SISO feedback systems.
  3. Nominal and robust performance analysis.
  4. Requirement specification.
  5. Robust design: unstructured and structured mixed sensitivity synthesis.

Part 4: linear MIMO feedback systems - robust analysis and design

  1. Introduction to MIMO linear systems.
  2. Nominal stability and performance in the MIMO case.
  3. Robust stability and performance in the MIMO case.
  4. MIMO robust design.

Part 5: nonlinear analysis methods

  1. Static nonlinearities: circle and Popov criteria.
  2. Limit cycles and oscillations: the describing function method.
  3. Introduction to nonlinear design: feedback linearisation, backstepping, adaptive control.

Part 6: case studies

  1. Attitude control for a small-scale UAV.
  2. Position control for a small-scale UAV.
  3. Attitude control for a full-scale helicopter.

     
           
    references and material      
   

References:

  • Material to be provided online here (in preparation).
  • Recommended reading:
    • S. Skogestad, I. Postlethwaite: Multivariable Feedback Control Analysis and Design, John Wiley and Sons.
    • H. Khalil: Nonlinear Control, Prentice-Hall.
    • E. Lavretsky, K. Wise: Robust and Adaptive Control with Aerospace Applications, Springer. 

Material for part 0: introduction

Material for part 1: systems theory - stability

Material for part 1: systems theory - absolute stability

Material for part 2: systems theory - performance

Material for part 2: systems theory - performance

Material for part 3: linear SISO feedback systems - robust analysis and design

Material for part 4: linear MIMO feedback systems - robust analysis and design

Material for part 5: nonlinear analysis methods - describing function

Material for part 5: nonlinear analysis methods - gain scheduling

Material for part 6: quadrotor attitude control

 Material for part 6: helicopter and tiltrotor attitude control

MATLAB scripts for uncertain models

     
         
    exam      
   

Students will be asked to form small groups to which a design project is assigned. The final examination will be based on both the presentation of the group design project and on an individual oral exam.

     
    contacts      
   
  • Marco Lovera

Dipartimento di Scienze e Tecnologie Aerospaziali

Politecnico di Milano

Tel. +39-02-23993592

email: marco.lovera@polimi.it