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Inicio Revista Iberoamericana de Automática e Informática Industrial RIAI Diseño y sintonización de una ley de control borrosa proporcional retardada: e...
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Vol. 12. Núm. 4.
Páginas 467-475 (Octubre - Diciembre 2015)
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Vol. 12. Núm. 4.
Páginas 467-475 (Octubre - Diciembre 2015)
DOI: 10.1016/j.riai.2015.07.005
Open Access
Diseño y sintonización de una ley de control borrosa proporcional retardada: enfoque frecuencial
Design and tuning of a fuzzy proportional retarded controller: frequency approach
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R. Villafuertea,b,c,
Autor para correspondencia
villafuerte@uaeh.edu.mx

Autor para correspondencia.
, J.A. Ortega Meloa,b,c
a Universidad Autónoma del Estado de Hidalgo (UAEH)
b Centro de Investigación en Tecnologías de Información y Sistemas (CITIS)
c Carr. Pachuca-Tulancingo Km. 4.5 s/n Col. Carboneras, Mineral de la Reforma, Hidalgo, México, C.P. 42184
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Resumen

Los retardos son por lo general un fenómeno indeseable en los procesos de control, debido a que estos pueden inestabilizar o producir un desempeño deficiente en la respuesta de un sistema. Sin embargo, los retardos también tienen la propiedad de coadyuvar a su estabilización. El presente artículo se beneficia de esta propiedad al proponer el diseño y sintonización de una ley de control borrosa proporcional retardada (BPR) para estabilizar una clase de sistemas no lineales. En este marco, la estabilidad del sistema no lineal se garantiza mediante la σ-estabilización de su modelo borroso del tipo Takagi-Sugeno (TS) en lazo cerrado con la ley de control BPR. El diseño del controlador BPR se propone a partir de la inclusión de una acción retardada en la estructura clásica, mientras que la sintonización del mismo se realiza asegurando σ-estabilidad sobre cada uno de los susbsistemas del modelo borroso empleando el método D-particiones. La σ-estabilización del sistema TS-BPR se garantiza mediante un análisis del lugar geométrico de las ráıces de su cuasipolinomio característico. La metodología sólo es aplicable a sistemas no lineales que se puedan modelar mediante subsistemas borrosos lineales de segundo orden. El diseño y la sintonización del controlador BPR se ejemplifican sobre una plataforma experimental carro-péndulo. El desempeño del BPR es comparado con una clásica compensación paralela

Palabras clave:
Sistemas de control no-lineal
sistemas borrosos
sistemas con retardos
controlador borroso PR.
Abstract

The time delays are usually an undesirable phenomenon in the control processes, because these can induce instability or a poor performance in the system. However, the time delays have the property of assisting in stabilizing. This article benefiting from this property to propose the design and tuning of a fuzzy proportional retarded controller (BPR) to stabilize a class of nonlinear systems. In this frame, the stabilization of a nonlinear system is guaranteed through the σ-stability of its Takagi-Sugeno (TS) fuzzy model in close-loop with BPR controller. The BPR controller design is based on inclusion a retarded action in the conventional structure. While the tuning of the BPR control law, has been addressed in the frequency approach using D-partition method. The stability of TS-BPR fuzzy system is ensured by analazing the root locus of its characteristic quasipolynomial. The design and tuning of BPR controller are exemplified on a car-pendulum experimental platform. The performance of BPR is compared with a parallel distributed compensation classic.

Keywords:
Control nonlinear systems
fuzzy systems
time delay systems
fuzzy control PR.
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