Diseño, simulación e implementación de un controlador PID robusto basado en conceptos de control por modos deslizantes, aplicado a dos procesos químicos no lineales y al módulo de control de temperatura TCLAB.

Abstract

Currently in the industry is required that the process control be as efficient and robust as possible, so when applying an automatic control, the control action should not cause the reduction of the useful life time of the final control element, since that would cause maintenance to be carried out continuously, increasing costs; as well as the control must act in such a way as to withstand external disturbances that may occur in the operation of the process. However, today PID-type schemes are still used, it has the advantage of being easy to implement and tune, even though they are not robust enough.A controller with better characteristics in terms of robustness and efficiency for non-linear dynamic systems is the sliding mode controller (SMC), where the main advantage is that when it reaches the sliding mode, the system becomes insensitive to disturbances and also to variations of plant parameters, due to its non-linearity.This work presents a proposal for a robust PID control scheme based on a reduced model of the plant applied to non-linear systems such as the reactor CSTR, the mixing tank and the temperature control module TCLAB; In general, this scheme acquires the robustness characteristics of the sliding mode control using only PID type controllers.