Resumo.E s t e trabalhoapresenta o projeto de um controlador robusto via programação linear em comparação com uma técnica de projeto convencional via posicionamento de polos. Os controladores foram aplicados à regulação de um sistema linear invariante no tempo. Testes foramrealizados a fim de verificar o desempenho dos controladores projetados.

In this work it is presented the design procedures and experimental results of a centralized multivariable LQG control system for longitudinal and lateral speed hold autopilot for the AR.Drone 2.0 quadcopter. The main contribution is that instead of assuming that the longitudinal and lateral dynamics are completely decoupled, the quadcopter is modeled as a coupled multivariable state-space system with transport time-delay. The system identification procedure, by extended recursive least-squares estimation, is done directly in the statespace form and a detailed description of the equations derived for this project is given. The LQG design is aided by analysis on the system's step-response tests in the time domain and is based on a non orthodox Kalman filter design, dual to the LQR. The proposed speed hold autopilot is evaluated using the system's model and then applied to the real process. The experimental platform used was a free add-on toolbox for Matlab/Simulink, also used as a benchmark control system with a ready-to-fly example of decentralized proportional control system for the AR.Drone 2.0. Results summarized in a table of integral performance indexes and a discussion over the formalism of the LQG method and its applications to flight control systems concludes the contributions of this work.

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This paper presents the design of a proportional-derivative controller (PD controller) by means of the theory of polynomials with interval roots, and applies them to the problem of robust pole placement technique for an interval system represented by a DC motor. It is formulated a optimization problem by Linear Programming approach integrated with the Chebyshev theorem, which incorporates additional constraints on the system and desired performance parameters and allow the designer to find the controller parameters that place closed-loop poles within desired intervals for plants with parameter uncertainties. The design purpose is the minimization of the overall deviation from the desired performance for the closed loop system, as specified by a characteristic polynomials family. For performance comparison, it was designed a classic PD controller and the results shows the good performance.

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