No abstract

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.

This work presents a hybridization of the Generalized Minimum Variance control (GMVC) with Parametric Robust Control (RPC) for Linear Time Invariant (LTI) Uncertain Systems. A linear parametric uncertainties model is used to describe the system dynamic behavior. The controller synthesis is based on PID controller with a low-pass filter and formulated as a convex optimization problem which takes in account the desired closed-loop performance and the uncertainties on the model parameters. Then, the robust controller parameters, that represent the best solution for the all possible models and assign the closed-loop poles within the desired region in the s-plane, are transferred to GMVC by Tustin's method, resulting in a parametric robust generalized minimum variance (PRGMV) controller, which was compared to two other approaches, carrying out several simulation essays in Matlab environment. In order to emphasize its performances and its efficiency, the performance index and sensitivity analysis were assessed. The results confirmed that the proposed controller ensures better robustness and performance for reference tracking and disturbance rejection.

This paper presents two tuning design possibilities for an incremental digital RST controller based on the pole placement technique, whose parameters are obtained by solving the Diophantine equation. Since output and input disturbances occur in real systems, it is done the stability and robustness analysis of the control loop by means of the sensitivity functions loop shaping. To evaluate the controller performance for such tunings, it is analyzed the integral perfomance index for the error and control effort. The difference between the tuning designs is presented by numerical simulation for a underdamped second order system, showing that the proposed method can provide solutions with good performance.

No abstract