Control de sistemas no lineales con retardo de tiempo variable : diseño e implementacion de controladores en un sistema embebido aplicados a un proceso quimico con retardo de tiempo variable simulado en matlab simulink bajo el concepto de “Harware in the loop”.

Abstract

The present work shows the design and implementation of cascade controllers type PID-PID, SMC-SMC and DSMC-PI in an Arduino Mega 2560 which works under the concept of Hardware in the loop with a chemical process. This process is simulated in the MatLab Simulink using of blocks.The document also describes the discretization of each controller and the way in which they were tuned.A communication is established between the computer that contains the process and the embedded system to test the control schemes. Hot water disturbances inside the mixing tank are also included to measure the performance of each controller through ISE and ISCO indices being DSMC-PI the controller that present the smallest index of the three controllers