Controle por realimentação derivativa para Sistemas Dinâmicos de Segunda Ordem com Atraso

Abstract

This work proposes a method for designing controllers by state-derivative feedback of linear systems represented by second-order matrix differential equations with delay in the control signal. From the frequency domain representation, known as the receptance model, an optimization problem is formulated for the computation of controller gains that limit the frequency peak of a sensitivity function, thus ensuring robust stability in closedloop even in face of delay. Genetic Algorithm is used to solve the optimization problem. To deal with systems with a singular mass matrix, a structure with a filtered Smith predictor is proposed, which guarantees the regularization of the system and the elimination of impulsive dynamics for consistent initial conditions. Numerical experiments illustrate the effectiveness of the proposed method, including the elimination of impulsive dynamics, and bring comparisons with state feedback controllers.