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DTSTART:20161030T030000
TZOFFSETFROM:+0200
TZOFFSETTO:+0100
RDATE:20171029T030000
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DTSTART:20170326T020000
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UID:calendar.12392.field_data.0@www.u-gov-ricerca.uniroma1.it
DTSTAMP:20260405T115910Z
CREATED:20170504T153328Z
DESCRIPTION:Motivated by current practice\, in this course we explore the p
 ossibility of applying theindustry-standard PID controllers to regulate th
 e behavior of nonlinear systems. As is wellknown\, PID controllers are hig
 hly successful when the main control objective is to drive a given output 
 signal to a constant value. PIDs\, however\, have two main drawbacks\, fir
 st\, the task of tuning the gains is far from obvious when the systems ope
 rating region is large\; second\, in some practical applications the contr
 ol objective cannot be captured by the behaviour of output signals. We sho
 w that\, for a wide class of physical systems\, these two difficulties can
  be overcome exploiting the property of passivity of the system.Passivity 
 is a fundamental property of dynamical systems\, which in the case of phys
 icalsystems captures the universal feature of energy conservation. It is w
 ell-known that PIDcontrollers are passive systems—for all positive PID gai
 ns—and that the feedback interconnection of two passive systems is stable.
  Therefore\, wrapping the PID around a passive output trivialises the gain
  tuning task. Clearly\, the first step in the design is to identify all pa
 ssive outputs of the system. It turns out that this task is achievable for
  a large class of physical systems described by port-Hamiltonian models.In
  many applications the desired values for the outputs are different from z
 ero\, whencethe PID is wrapped around the error signal. In this case\, it 
 is necessary to investigatewhether the system is passive with respect to t
 his error signal—a property called passivityof the incremental model\, whi
 ch is studied in the course.If the control objective is to stabilize (in t
 he Lyapunov sense) a constant equilibriumit is necessary to build a Lyapun
 ov function. In the course we identify—via some easilyverifiable integrabi
 lity conditions—a class of systems for which this more ambitious objective
 is achieved.
DTSTART;TZID=Europe/Paris:20170517T120000
DTEND;TZID=Europe/Paris:20170517T120000
LAST-MODIFIED:20200630T142240Z
LOCATION:Aula B2
SUMMARY:PID Passivity-Based Control: Application to Energy and Mechanical S
 ystems - Professor ORTEGA Romeo
URL;TYPE=URI:http://www.u-gov-ricerca.uniroma1.it/node/12392
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