Información del artículo
Resumen
Se presenta una forma de controlar sistemas con retardo en la entrada o en la salida utilizando modos deslizantes y predictores tipo Smith, conocidos como asignación finita de polos. La utilización de predictores elimina el castañeteo en la superficie deslizante debido al retardo. Se introduce un método de diseño de la superficie deslizante para estos predictores, se analiza el método propuesto y las posibles dificultades a resolver debido a incertidumbres en la estimación de los parámetros. Por último se presentan ejemplos numéricos para ilustrar el método y algunos aspectos del análisis desarrollado.
Palabras Clave:
predictor
modos deslizantes
castañeteo
robustez
asignación finita de polos
incertidumbres
perturbaciones
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