Diseño de reguladores en variables de estado

Obtención de V.E a partir de una F.T. (I)

Y ( s) 2
G ( s) = = &y& + 5 ⋅ y& + 6 ⋅ y = 2 ⋅ u
U ( s) s 2 + 5 ⋅ s + 6

x1 = y x&1 = x2
x2 = y& x&2 = −5 ⋅ x2 − 6 ⋅ x1 + 2 ⋅ u

 x&1   0 1  x1  0
 x&  = − 6 − 5 ⋅  x  + 2 ⋅ u
x& = [ A] ⋅ x + [ B] ⋅ u  2    2  

y = [C ] ⋅ x + [ D] ⋅ u
 x1 
y = [1 0]⋅  
 x2 

ISA - Vigo 2012 Control de procesos continuos 53

Diseño de reguladores en variables de estado
Obtención de V.V.E a partir de una F.T. (II)
Y ( s) 2 −2 2 [n,d]=residue(g.num{1}, g.den{1})
G ( s) = = = +
U (s) s 2 + 5 ⋅ s + 6 (s + 3) (s + 2)  − 2 − 3 
n=  d = 
 2 − 2
−2 2
Y ( s) = ⋅U (s) + ⋅U (s)
(s + 3) (s + 2)

x1 x2

 x&1  − 3 0   x1  − 2
x&1 + 3 ⋅ x1 = −2 ⋅ u  x&  =  0 − 2 ⋅  x  +  2 ⋅ u
 2    2  
x&2 + 2 ⋅ x2 = 2 ⋅ u
y = x1 + x2
 x1 
y = [1 1]⋅  
 x2 
ISA - Vigo 2012 Control de procesos continuos 54
 Diseño de reguladores en variables de estado
Asignación de polos (I)

Sistema

Realimentación

x& = A ⋅ x + B ⋅ u x& = A ⋅ x + B ⋅ ( − K ⋅ x + r ) = ( A − B ⋅ K ) ⋅ x + B ⋅ r
u = −K ⋅ x + r Ecuación homogénea x& = ( A − B ⋅ K ) ⋅ x
Ecuación x& = A ⋅ x Polos: det[ s ⋅ I − A] = 0
característica
x& = ( A − B ⋅ K ) ⋅ x Polos: det[ s ⋅ I − ( A − B ⋅ K )] = 0
ISA - Vigo 2012 Control de procesos continuos 55
 Diseño de reguladores en variables de estado
Asignación de polos (II)

Sistema

Realimentación
• Si D=0
x& = A ⋅ x G ( s ) = C ⋅ ( s ⋅ I − A) −1 ⋅ B
x& = ( A − B ⋅ K ) ⋅ x M ( s ) = C ⋅ [ sI − ( A − B ⋅ K )]−1 ⋅ B
C ⋅ AdjT [ s ⋅ I − ( A − B ⋅ K )] ⋅ B
M (s) =
det[ s ⋅ I − ( A − B ⋅ K )]
Ceros de M C ⋅ AdjT [ s ⋅ I − ( A − B ⋅ K )] ⋅ B
Polos de M det[ s ⋅ I − ( A − B ⋅ K )] = 0
ISA - Vigo 2012 Control de procesos continuos 56
Diseño de reguladores en variables de estado
Asignación de polos (III)
Y ( s) 2  x&1   0 1  x1  0
G ( s) = =  x&  = − 6 − 5 ⋅  x  + 2 ⋅ u
U ( s) s 2 + 5 ⋅ s + 6  2    2  
K = [k1 k 2 ]
0  0 0 
det[ s ⋅ I − ( A − B ⋅ K )] = 0 B ⋅ K =   ⋅ [k1 k2 ] =  
2  2k1 2k 2 

 0 1 
[A − B ⋅ K] =  
 − 6 − 2 k1 − 5 − 2 k 2

 s −1 
det[ s ⋅ I − ( A − B ⋅ K )] =   = s 2 + 5s + 2k2 s + 6 + 2k1
6 + 2k1 s + 5 + 2k 2 

s 2 + (5 + 2 ⋅ k2 ) ⋅ s + (6 + 2 ⋅ k1) = 0
ISA - Vigo 2012 Control de procesos continuos 57
Diseño de reguladores en variables de estado
Asignación de polos (IV)
Especificaciones:
Sobreoscilación pequeña ζ = 0.8
π π π
Tiempo de establecimiento 1segundo 1= ωn = = ≅4
ζ ⋅ω n ζ 0 .8
Ec. característica seleccionada: s 2 + 2 ⋅ζ ⋅ωn ⋅ s + ωn2 = 0

s 2 + 2 ⋅ 0.8 ⋅ 4 ⋅ s + 42 = s 2 + 6.4 ⋅ s + 16 = 0

Ec. característica del sistema: s 2 + (5 + 2 ⋅ k2 ) ⋅ s + (6 + 2 ⋅ k1) = 0

5 + 2 ⋅ k 2 = 6.4 k 2 = 0 .7 » place(A,B,roots([1 6.4 16]))

6 + 2 ⋅ k1 = 16 k1 = 5 » acker(A,B,roots([1 6.4 16]))

ISA - Vigo 2012 Control de procesos continuos 58

Diseño de reguladores en variables de estado
Asignación de polos – Fórmula de Ackermann
Dada la Ec. característica: Q(s) = s n + α1 ⋅ s n−1 + ... + α1 = 0
La matriz de ganancia de realimentación es: K = [0 0 ... 1] ⋅ ₵ −1⋅ Q( A)
»ctrb(A,B)
0 2  2. 5 0.5
2 −1
₵ = [B A⋅ B A ⋅B ...] =   ₵ = 
2 −10 0.5 0 

 10 1.4
Q(s) = s 2 + 6.4 ⋅ s +16 Q( A) = A2 + 6.4 ⋅ A +16 = 
− 8.4 3 

K = [0 1] ⋅ ₵ −1⋅ Q( A) = [5 0.7]

»[0 1]*inv([B A*B])*[A^2+6.4*A+16*eye(size(A))

ISA - Vigo 2012 Control de procesos continuos 59

Tema 2
Bibliografía
[ASTROM-95] K.J. Åström y T. Hägglund, “PID Controllers: Theory, Design, and Tuning”.
Instrument Society of America, 1995.
[CHR-52] Chien, Hrones, Reswick, “On the automatic tuning of generalized passive
systems”. Trans. ASME, Vol 74, pp. 175-185, 1952.
[CC-53] H. Cohen, G. A. Coon, “Theoretical consideration of retarded control.” Trans.
ASME, Vol 75, pp. 827-834, 1953.
[DORF-05] Richard C. Dorf, Robert H. Bishop, “Sistemas de control moderno”. PEARSON.
Prentice Hall. 2005.
[ESPADA-98] A. Espada Seoane, “Reguladores Industriales Universales”. Vigo, 1998.
[LIESLEHT-97] Jukka Lieslehto, “Collection of Java Applets for PID Controller Tuning”.
http://ae.tut.fi/~juke/java/pidtuning/index.html. Tampere University of
Technology, Tampere, Finland, 1997.
[MAND-09] E. Mandado, J. Acevedo, C. F. Silva, I. Armesto, “Autómatas Programables y
Sistemas de Automatización”. Ed. Marcombo. 2009.
[NEWCAST-08] Control PID Clásico
http://www.csd.newcastle.edu.au/SpanishPages/clase_slides_download/C07.pdf
[PAZ-01] Robert A. Paz, “The Design of the PID Controller”. Junio, 2001.
[ZN-1942] J.G. Ziegler, N.B. Nichols, “Optimum Setting for Automatic Controllers”,
Transactions of the American Society Mechanical Engineering, Vol 64, pp. 759-
768, 1942.

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