Seguimiento óptimo del nivel de agua de un sistema de tanques acoplados empleando el regulador lineal cuadrático

Pedro Teppa-Garran

doi:10.62876/tekhne.v25i3.5849

Autores/as

Pedro Teppa-Garran Universidad Metropolitana https://orcid.org/0000-0001-6384-3185

DOI:

https://doi.org/10.62876/tekhne.v25i3.5849

Palabras clave:

seguimiento de señales de referencia, control óptimo, LQR, modelo interno, sistema de tanques acoplados

Resumen

Se propone un controlador óptimo que resultará en un error de seguimiento asintótico en estado estacionario nulo. Las entradas de referencia pueden incluir escalones, rampas y otras señales persistentes. Para una señal tipo escalón, es bien conocido que se puede lograr un error de seguimiento de estado estacionario cero con un sistema de lazo abierto de tipo uno. Esta idea se formaliza en este trabajo, aumentando el modelo del sistema de tanques acoplados con un modelo interno de la entrada de referencia. Luego, a través del método LQR, los requerimientos de diseño sobre la respuesta temporal son incorporados mediante la minimización de una función cuadrática dependiente de las variables de estado y de la señal de control. Se proporcionan resultados experimentales en el sistema de tanques acoplados para ilustrar la efectividad del método.

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