Reguladores basados en observadores de perturbaciones: principios de funcionamiento y métodos de diseño

• Castillo, Alberto ^[1] ; García, Pedro ^[1] ; Albertos, Pedro ^[1]
  1. [1] Universidad Politécnica de Valencia

     Universidad Politécnica de Valencia

     Valencia, España

     
• Localización: Revista iberoamericana de automática e informática industrial ( RIAI ), ISSN-e 1697-7920, Vol. 19, Nº. 4, 2022, págs. 343-355
• Idioma: español
• DOI: 10.4995/riai.2022.16856
• Títulos paralelos:
  • Disturbance Observer-Based Controllers: operating principles and design strategies
• Enlaces
  • Texto completo
• Resumen
  • español

    Durante las últimas décadas, los reguladores lineales basados en observadores de perturbaciones han experimentado un interés creciente entre la comunidad científica, principalmente, debido a sus buenas propiedades para tolerar cambios o incertidumbres en los sistemas. En este tutorial se aborda una revisión de dichos reguladores, analizando sus elementos más característicos – esdecir: i) los modelos con entradas de perturbación, ii) los algoritmos observadores de perturbaciones, y iii) el diseño de leyes decontrol –, así como sus principales técnicas de diseño. Se consideran también algunos aspectos de la teoría del control que motivan y justifican la utilización de estos reguladores; principalmente: la incertidumbre de los modelos, su importancia dentro del paradigma del control robusto y la capacidad de los modelos perturbados para representar sistemas inciertos. El tutorial concluye con u nejemplo ilustrativo sobre el diseño de este tipo de reguladores para el control de glucosa en personas diabéticas (páncreas artificial).

  • English

    During the past decades, the scientific interest on the linear disturbance observer-based controllers has notably increased, mainly, due to their good properties for handling changes or uncertainties in the systems. In this tutorial, these type of controllers are reviewed by analyzing their characteristic elements –which are: i) the disturbed models, ii) the disturbance observer algorithms, and iii) the feedback control-laws– as well as their main design-techniques. Some aspects of the control theory that motivate and support the use of these regulators are also described, including: the model uncertainties, its relevance within the robust control paradigm, and the capability of the disturbed models to handle uncertainties. The tutorial concludes with an ilustrative example on the closed-loop glucose control for diabetic people (artificial pancreas).

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