Compensación por modo deslizante para sistemas de fase no mínima parcialmente desacoplados

FABRICIO GARELLI; RICARDO J. MANTZ; HERNÁN DE BATTISTA

Salvador, Brasil

Congreso; 12th Latin-American Congress on Automatic Control ? CLCA 2006; 2006

Universidad Federal de Bahia - Sociedad Brasileña de Automática - IEEE - IFAC

Partial decoupling of multivariable systems has been considered in the literature as a way of relaxing the design limitations introduced by diagonal decoupling in non-minimum phase processes. The former strategy allows decoupling a variable of interest without affecting it with non-minimum phase dynamics. However, when right-half plane zeros are mainly aligned with this variable, pushing the effect of these zeros to other outputs comes at the cost of great interactions in those variables. This article presents a method to delimit these interactions without degrading significantly the decoupled variable response. To this end, the algorithm shapes the reference signal by means of an auxiliary sliding mode loop.