Projeto de controlador PID robusto e adaptativo utilizando otimização linear.

Abstract

Controllers are needed for the industry to produce scale and reach, not only maximizing production but also improving the quality of production. The PID controllers dominate the industry because they are able, with a low complexity, to produce an acceptable response of the system. The optimal controllers emerged as a way to get the best set of controller parameters for a particular control problem, that is, obtaining the most appropriate response from the viewpoint of the designer. Fluctuations in the power grid or in the load of the machines usually occur in the industry, so that another control area appears. Called robust control, the objective is to design controllers that have high noise and system variations rejection. In this work, an innovative controller design approach will be presented, mixing the concepts of optimal control and robust control, ensuring the designer to move between the controller settings by changing the coefficients of a linear objective function. Then, to cope with a changing system depending on the operating point,a gain scheduling based adaptive strategy is used. Therefore, it is presented in a brief way the linear programming theory and the definitions of restrictions on Nyquist diagram of an electro-mechanical system in order to consolidate an alternative controller design technique.