Projeto de controladores para sistemas não lineares via técnicas baseadas em escalonamento de ganhos

Abstract

Nonlinear control is a field in Control Theory that has been extensively studied throughout the years. Among many of the strategies found in literature, there are those in which the nonlinear system is approximated by a collection of local linear systems. The corresponding controller is built upon this approximation and synthesized in a way that its gains are scheduled depending on the signals of the original system. This leads to the so called Gain Scheduling Control. This work is dedicated to show how each step is conducted in the process of representing the plant synthesizing the controller in a Gain Scheduling context. Step-by-step procedures to obtain the local linear representation of the system are implemented for five different strategies, and the robust controller synthesis conditions are presented considering the presence of parametric uncertainties. Finally, each strategy is applied in three case studies that, gradually, brings to light the ups and downs of each one of the five approaches. In the last example, the longitudinal control of a UAV (Unmanned Aerial Vehicle), multiple simplifications practiced in the literature are discussed, as well as the empirical nature found in some of the mentioned techniques.