Avaliação e projeto de um controlador self-tuning na estabilização de sistemas oscilatórios

This paper describes the development and a real application of a new digital self-tuning control scheme when applied to a damped pendulum system for trajectory tracking. The proposed control technique is derived from the optimization of a quadratic performance index which includes an additional weighted derivative term. The self-tuning control action is implemented with a recursive identification procedure with a covariance matrix reset scheme in order to find good process parameters. Experimental simulations show that the self-tuning controller provides a significant improvement in the system behavior, with setpoint tracking and increasing the damping of oscillations in the system over a range of operating conditions.