Implementação em Python do Cálculo do Conjunto Estabilizante para um Controlador PI

Abstract

This paper presents a Python language approach for computing the stabilizing set of PI (Proportional Integral) gains for a stable, single-input and single-output (SISO), linear timeinvariant and non-minimum phase system, with two poles and one zero. We used the “Signature Method”, a technique developed by researchers from Texas A&M University that computes the stabilizing set of PID (Proportional Integral Derivative) gains. Despite its effectiveness, this technique suffers from some software implementation difficulties due to the complexity of the algorithm. Thus, this work proposes an alternative implementation based on the SymPy package, a Python library for symbolic mathematics. For testing purposes, ten thousand samples (controller gains values) were generated and sorted based on the developed code.