Projeto de controladores chaveados robustos considerando custo garantido com realimentação estática de saída

• Autor(a) principal: Bocca, Lucas Favi
• Data de Publicação: 2021
• Tipo de documento: Trabalho de conclusão de curso
• Idioma: por
• Título da fonte: Repositório Institucional da UNESP
• Texto Completo: http://hdl.handle.net/11449/214546
• topic: Linear control systems; Robust control; Sistemas Lineares; LMI; Controle Robusto; Controle Chaveado; Evolução Diferencial

For the design of controllers, not all system states are always available or obtaining all of them can result in higher project costs. Considering that, in this work design methods for robust switching controllers with static output feedback are proposed. It will be presented the basic theory of linear matrix inequalities and Lyapunov’s theory necessary for understanding the proposed theorems. Also will be studied the the state space mathematical model of the active bench suspension prototype, manufactured by Quanser, which will be used for the simulation and implementation of the designed controllers. In the design of the controllers the minimization of the output energy will be considered with the objective of reducing the settling time and the oscillations of the closed-loop system output. It is considered the physical limit of the system output, by taking into account a bounded set of initial conditions, which is done by considering a convex set of initial conditions. This minimization was archived by the definition of a quadratic performance index, named guaranteed cost. Sufficient conditions described in linear matrix inequalities (LMIs), to meet the design criteria, are presented in the form of theorems that require some chosen constant parameters. The search for the global optimal values of the performance index will be achieved through the Differential Evolution (DE) algorithm. Besides that, when the proposed conditions are satisfied, the closed-loop system will be asymptotically stable and the output will be within the specified limits for a given set of initial conditions. In addition to the implementation of the controllers in the benchtop active suspension prototype, two numerical examples were considered to evaluate the feasibility and stabilization region of systems described by state variables.