Development of a didactic plant and a human-machine interface to compare different digital controllers

Nelson N. N. Yamaguti; Bruno G. Dutra; Antonio S. Silveira

doi:10.20906/sbai.v1i1.2844

Nelson N. N. Yamaguti Institute of Technology, Federal University of Pará, Belém
Bruno G. Dutra Institute of Technology, Federal University of Pará, Belém
Antonio S. Silveira Institute of Technology, Federal University of Pará, Belém

DOI: https://doi.org/10.20906/sbai.v1i1.2844

Keywords: PID, LQR, LQG, Didactic Plant, Human-Machine Interface, Real-Time Control

Abstract

This article presents a comparison between the effectiveness of controllers strongly consolidated in the classical and modern control theory, for this, several performance indices were used. In order to carry out this research, it was proposed the development of a didactic plan with two inputs and one output, of low cost, with dynamics similar to those of heavy cargo transport aerial vehicles used in the military area. In addition to the elaboration of the didactic process, this work includes the development of a human-machine interface to control the angular position of the plant in real time.