masterThesis
Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados
Fecha
2011-02-14Registro en:
LOPES, José Soares Batista. Controle preditivo robusto baseado em desigualdades matriciais lineares aplicado a um sistema de tanques acoplados. 2011. 84 f. Dissertação (Mestrado em Automação e Sistemas; Engenharia de Computação; Telecomunicações) - Universidade Federal do Rio Grande do Norte, Natal, 2011.
Autor
Lopes, José Soares Batista
Resumen
This work deals with an on-line control strategy based on Robust Model
Predictive Control (RMPC) technique applied in a real coupled tanks system.
This process consists of two coupled tanks and a pump to feed the liquid to the
system. The control objective (regulator problem) is to keep the tanks levels in
the considered operation point even in the presence of disturbance. The RMPC
is a technique that allows explicit incorporation of the plant uncertainty in the
problem formulation. The goal is to design, at each time step, a state-feedback
control law that minimizes a 'worst-case' infinite horizon objective function,
subject to constraint in the control. The existence of a feedback control law
satisfying the input constraints is reduced to a convex optimization over linear
matrix inequalities (LMIs) problem. It is shown in this work that for the plant
uncertainty described by the polytope, the feasible receding horizon state
feedback control design is robustly stabilizing. The software implementation of
the RMPC is made using Scilab, and its communication with Coupled Tanks
Systems is done through the OLE for Process Control (OPC) industrial protocol