DISCIPLINA: CONTROLE ROBUSTO E MULTIVARIVEL

PROJETO LOOP-SHAPING ROBUSTO

Autor: Kevin Lucas Marcillo

ITERAES PARA CALCULO DO CONTROLADOR K(S)

2 2
() = () () = () 2

(
+ )
() = (19) < < < < (35)
( + )

% Controlador
a=4*W(19);
b=7*wc;
K=tf([1 a],[1 b]);

L1=tf(wc^2,[1 0 0])*K*(b/a)
absL1=abs(freqresp(L1,W));

for k=1:50
plot(W(k),mag2db(absL1(:,:,k)),'*k');
hold on
end

100

80

L(jw)
60
FL(w)
40
Mag (dB)

20

0
FH(w)

-20

-40
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
W (rad/seg)
DESEMPENHO NOMINAL |1 () ()| < 1,

So=1/(1+L1);
absW1S0=abs(freqresp(W1*So,W));

figure
for k=1:50
plot(W(k),absW1S0(k),'*');
hold on
end

2
10
|W1*So|

0
10
Magnitude

-2
10

-4
10

-6
10
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequencia (rad/seg)
ESTABILIDADE ROBUSTA |2 () ()| < 1,

To=1-So;
absW2T0=abs(freqresp(W2*To,W));

for k=1:50
plot(W(k),absW2T0(k),'*r');
hold on
end

2
10
|W2*To|

0
10
Magnitude

-2
10

-4
10

-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequencia (rad/seg)
DESEMPENHO ROBUSTO |1 () ()| + |2 () ()| < 1,

J=absW1S0 + absW2T0;

for k=1:50
plot(W(k),J(k),'*k');
hold on
end

2
10
|W1*So|+|W2*To|

0
10
Magnitude

-2
10

-4
10
-2 -1 0 1 2 3 4
10 10 10 10 10 10 10
Frequencia (rad/seg)
DESEMPENHO NOMINAL - ESTABILIDADE ROBUSTA - DESEMPENHO ROBUSTO