Controlador RST auto-ajustável: análise e estudo de casos

Abstract

This work describes the development of a digital controler RST for inputs: step, ramp and sinusoid, combined with least square error estimator (MQR) system identification algorithm to obtain the system model. The controller was applied in two simulated systems, an example system and a real system. Based on the system model, the controller parameters were calculated. During the system simulations, the performance indexes of the developed controller were evaluated. The results show that the self-tuning RST controller was successful in controlling the systems even in the presence of disturbance. It has also been demonstrated that the controller has satisfactory results in controlling the plant even though it receives a different reference input than the one it was designed for.