SINTONIZACIÓN DE CONTROLADORES TIPO PROPORCIONAL - DERIVATIVO PARA SISTEMAS LINEALES CON RETARDO

Abstract

Time delay is the property of a physical system so that the response to an applied force (action) is delayed in its e ect. Whenever material, information or energy is physically transmitted from one place to another, there is a delay associated to the transmission. Time delays are useful for modeling engineering systems, chemical systems, communication systems among others. They are also used to approximate higher order systems by reduced order with delay systems. Delayed systems often induce oscillations, instability or poor performance; so many works have been developed for analysis and development of control strategies. The analysis and study of these closed loop systems become more complex due the time delay in the denominator of the transfer function, this leave us dealing with systems with in nite number of poles. This thesis presents necessary and su cient conditions to the existence of the stabilizing Proportional Derivative (PD) to control rst order linear systems with time delay. In addition, once the condition for the existence of the controller are given, a simple method to compute the parameters of the PD controller is introduced, as well as a conjecture that provides the characterization of stabilizing controller parameters. Also shows a set of numerical simulations to help us understand a little bit more about the performance and the changes occurred on the system when time delay is greater, observing the satisfactory response of the proposed controller. Finally PD controller is implemented in a real plant built with operational ampli ers, showing its performance against parametric variations caused by the use of electronic devices.