Metodologia baseada em algoritmo DE para sintonia do controlador granular robusto em sistemas multivariáveis

Abstract

The robust granular controller – CGR is a non-linear control method whose main characteristic is to add robustness to the Feedback Linearization technique. Despite demonstrating enough efficiency in what it proposes, the use of the CGR is subject to the choice of several parameters related to the learning process that influences the dynamics of the controller. This fact makes its application in real systems complex, especially for multivariable systems. This work proposes a methodology based on the differential evolution algorithm (DE) for tuning the CGR parameters. In addition, a reference model is used in the tuning process, making the closed-loop dynamic with uncertainties more similar to the desired dynamic for the nominal system. The proposed approach is applied to a level control system for non-linear tanks. The results indicate that the tuning method via DE provides significant performance improvement to the closed loop.