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Doctoral Thesis
DOI
10.11606/T.3.2017.tde-26012017-110642
Document
Author
Full name
Zoraida Violeta López Murgueytio
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Paulo, 2016
Supervisor
Committee
Silva, Paulo Sergio Pereira da (President)
Angelico, Bruno Augusto
Pait, Felipe Miguel
Terra, Marco Henrique
Tonelli, Pedro Aladar
Title in Portuguese
Estudo sobre a garantia de estabilidade em malha fechada com estimação algébrica de derivadas.
Keywords in Portuguese
Controle (Teoria de sistemas de controle)
Estabilidade
Estimadores algébricos
Levitação magnética
Sistemas não lineares
Abstract in Portuguese
A presente tese trata do estudo dos estimadores algébricos aplicados a sistemas de controle. Tais estimadores são filtros variantes no tempo que estimam as derivadas dos sinais de entrada e funcionam como uma alternativa ao uso de observadores. Este trabalho inclui uma contribuição teórica que permite determinar um limite superior do erro do estimador algébrico. Também, mostramos um resultado que garante estabilidade em malha fechada no contexto do princípio da separação para esta classe particular de sistemas. Um exemplo de levitação magnética baseado em linearização exata com estimadores algébricos de derivadas até segunda ordem implementados digitalmente é tratado com detalhe. Simulações em computador são apresentadas mostrando excelentes resultados.
Title in English
A study abpout the closed loop stability of control systems equipped with algebraic estimators of output derivatives.
Keywords in English
Algebraic estimator
Magnetic levitation
Nonlinear control
Stability
Abstract in English
This thesis deals with the algebraic estimators and their application in closed loop control systems. The algebraic estimators can be implemented as time-varying filters that produce an estimation of the derivatives of the input signal, and they can be an interesting alternative for substituting classical observers. This work includes a theoretic contribution that allows to compute a bound of the estimation error of the algebraic estimator. Furthermore it is shown that any derivative estimator that respects this bound will assure closed loop stability in the context of the separation principle, at least for a class of nonlinear systems. An example of magnetic levitation based on exact linearization and in closed loop with an estimator of the first and second derivatives is considered. A digital implementation of the algebraic estimation is also discussed, and simulations are presented, showing excellent results.
 
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Publishing Date
2017-01-26
 
WARNING: The material described below relates to works resulting from this thesis or dissertation. The contents of these works are the author's responsibility.
  • MURGUEYTIO, Zoraida Violeta Lopez, Pereira da Silva, Paulo Sérgio, and BRITO NOVAES, CARLOS EDUARDO. Closed-Loop Performance Analysis of Algebraic Estimators [doi:10.1007/s40313-013-0078-2]. Journal of Control, Automation and Electrical Systems [online], 2013, vol. 24, p. 725-740.
All rights of the thesis/dissertation are from the authors
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