Diseño y simulación de un controlador por modos deslizantes dinámicos para sistemas inestables en lazo abierto con retardo de tiempo.

Abstract

This document shows the design and simulation of a dynamic sliding mode controller for open-loop unstable systems with time delay. Starting from the fundamental sliding model control concepts and internal model structures, the proposal of dynamic sliding modes control is synthesized. Based on the advantage of a First Order Plus Dead Time (FOPDT) models to the representation of non-linear systems, the DSMC scheme for unstable systems is structured. Additionally, an internal P/PD controller is added so that the scheme provides an adequate response to process charge disturbances. The test processes are two unstable linear plants of second and third order and a non-linear biochemical reactor which operates at an unstable point. An identification method is applied to these systems to approximate them to an FOPDT unstable model. Executing the proposed controller, in the three systems, the tracking improve is verified. A comparison is made of performance and robustness of SMC proposed by R. Rojas, O. Camacho and L. González and PID proposed by Q. Han Seer and J. Nandong using the ISE and TVu performance indices, in addition to the transient parameters Mp and Ts.