Diseño, simulación e implementación de controladores por modos deslizantes (SMC), con esquemas duales y de dos grados de libertad (2DOF) aplicados en sistemas multivariables: laboratorio de control de temperatura (TCLab) y evaporador de doble efecto.

Abstract

This final project shows the design, simulation, and implementation of sliding mode controllers with dual mode and two degrees of freedom schemes applied to multivariable systems: Temperature Control Lab and Double Effect Evaporator. The system’s identification is carried out by using the reaction curve method where the first order plus dead time and the integrating approximate models are obtained. Due to the interaction between the variables, it´s required to develop an interaction analysis by using the Bristol gain array. Also, the decouplers are designed taking the appropriate considerations. Then, the design of Dual mode SMC and SMC 2DOF controllers is carried out using the theory about the sliding mode control, dual mode schemes and two degrees of freedom controller´s structures. The proposed SMC controllers and the traditional PID and SMC controllers are compared by the aid of performance indexes such as ISE, TVU, Mp and ts, which are presented using radial curves. To this effect, tests are carried out to determine the systems behavior when setpoint changes are applied. Finally, simulation and implementation of the designed controllers is done through Matlab & Simulink. On the other hand, the obtained results are presented through a graphical interface developed in App Designer.