Controlador Proporcional-Integral-Derivativo não linear por modelo de referência

Abstract

The Proportional-Integral-Derivative (PID) controller, predominant in process control applications in industry, consists of a simple technique with an excellent cost-benefit ratio. However, its limitations restrict the good performance only to the neighborhood of an operating point. Overcoming PID limitations has always been an objective for control engineers, notwithstanding new proposals are generally resisted in adoption by professionals already very familiar with the simple and intuitive PID’s adjustments. Therefore, in this work, we propose a control technique that maintains the structure, simplicity, and intuitive adjustment of PID but overcomes its limitations by presenting good performance at different operating points with the same parameter adjustment and demonstrating robustness to some industrial scenarios. In addition to the controller proposal, the work also presents stability analyses for different types of plants, simulation results, and a discussion about the proposal.