|1 YEAR||II semester||6 CFU|
|Cristiano M. VERRELLI||A.Y. 2021-22|
The matrix exponential; the variation of constants formula.
Computation of the matrix exponential via eigenvalues and eigenvectors and via residual matrices. Necessary and sufficient conditions for exponential stability: Routh-Hurwitz criterion. Invariant subspaces.
Impulse responses, step responses and steady state responses to sinusoidal inputs. Transient behaviors. Modal analysis: mode excitation by initial conditions and by impulsive inputs; modal observability from output measurements; modes which are both excitable and observable. Popov conditions for modal excitability and observability. Autoregressive moving average (ARMA) models and transfer functions.
Kalman reachability conditions, gramian reachability matrices and the computation of input signals to drive the system between two given states. Kalman observability conditions, gramian observability matrices and the computation of initial conditions given input and output signals. Equivalence between Kalman and Popov conditions.
Kalman decomposition for non reachable and non observable systems.
Eigenvalues assignment by state feedback for reachable systems. Design of asymptotic observers and Kalman filters for state estimation of observable systems. Design of dynamic compensators to stabilize any reachable and observable system. Design of regulators to reject disturbances generated by linear exosystems.
Bode plots. Static gain, system gain and high-frequency gain.