Estabilidade e robustez de um controlador adaptativo indireto por um modelo de referência e estrutura variável / Robustness and stability analysis of an indirect variable structure model reference adaptive controller

AUTOR(ES)

Josenalde Barbosa de Oliveira

DATA DE PUBLICAÇÃO

2007

RESUMO

In this thesis, it is developed the robustness and stability analysis of a variable structure model reference adaptive controller considering the presence of disturbances and unmodeled dynamics. The controller is applied to uncertain, monovariable, linear time-invariant plants with relative degree one, and its development is based on the indirect adaptive control. In the direct approach, well known in the literature, the switching laws are designed for the controller parameters. In the indirect one, they are designed for the plant parameters and, thus, the selection of the relays upper bounds becomes more intuitive, whereas they are related to physical parameters, which present uncertainties that can be known easier, such as resistances, capacitances, inertia moments and friction coefficients. Two versions for the controller algorithm with the stability analysis are presented. The global asymptotic stability with respect to a compact set is guaranteed for both cases. Simulation results under adverse operation conditions in order to verify the theoretical results and to show the performance and robustness of the proposed controller are showed. Moreover, for practical purposes, some simplifications on the original algorithm are developed

ASSUNTO(S)

variable structure control robustness controle por estrutura variável controle adaptativo sliding modes modos deslizantes adaptive control engenharia eletrica stability analysis análise de estabilidade, robustez

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