Laboratory of System Dynamics

Activity of the Laboratory - Experimental analysis of dynamical systems and control.

Year of fundation - 1995.

Scope of the Laboratory - Education and research.

Director - Franco Blanchini.

Supervisor - Dr Stefano Miani.

Special support - Eurotech - Amaro (UD), Italy.

Thanks (for his precious help) to Mr Dario Fonda, Udine.





Equipment presently available (self-made)

• Two-tanks hydraulic system
• Magnetic levitation system
• Automatic pointer system
• Cart-pendulum system
• Obscillating flywheel system
• Control software

Software

• Generation of polyhedral Lyapunov functions for robust control
• Optimization of dynamic distribution networks
• Dynamic simulation of multy-inventory systems

Students who have been involved

• Dr. Stefano Miani (Supervisor).
• Maria Gariup (Optimization of dynamic distribution networks - 1995) .
• Giorgio Tommasella (Simulation of multy-inventory systems - 1995).
• Gianluca Koruza (Realization of the two-tank system - 1996).
• Luca Tubaro (Control of the two-tank system - 1996)
• Marco Piasenzotto (Control optimization of the two-tank system - 19 96)
• Fabio Cussigh (Realization and control of the magnetic magnetic levi tation system - 1996)
• Aleandro Agarinis (Control optimization of the magnetic levitation s ystem - 1997)
• Lorenzo Schiava (Realization of the infrared ray pointing system - 1 998)
• Fabrizio Taboga (Interface for the control of the magnetic levitator - 1998)
• Matteo Nardone (Realization of the controlled cart-pendulum system - 1999)
• Venier Daniele (Control of the cart-pendulum system - 2000)
• Felice Andrea Pellegrino (Neural Network Control - 2000)
• Michele Franzoso (Adaptive Control of the levitator - 2001)
• Carlo Savorgnan (Software for computing invariant sets - 2003)
• Venturini Ivan (Relization of the vibrating system) - 2003)
• Giovanni Totis (Control of the vibrating system) - 2003)

Hydraulic system with two tanks and pump






Magnetic levitation system - Photo 1

• Magnetic levitation System: Photo 2
  
  
• Magnetic levitation System: Photo 3
  
  
• Magnetic levitation System: Movie (.zip)

Cart-pendulum system


Cart-pendulum system

• Controlled pendulum-cart system: Photo2
  
  
• Controlled pendulum-cart system: Photo3
  
  
• Controlled pendulum-cart system: Photo4
  
  
• Controlled pendulum-cart system: Movie (.zip)

Obstacle-avoiding robot control

Cartesian Robot Control with obstacle avoidance














Obscillating flywheel system

• Control of obscillating flywheels 2

• Ray pointing system Movie (.zip)

Relatively Optimal Control: experimental results

Transients with state and estimated-state feedback and non-nominal initial state