Control PID robusto: Una visión panorámica

Ramón Vilanova; Víctor M. Alfaro

doi:10.1016/j.riai.2011.06.003

Autores/as

Ramón Vilanova Universitat Autònoma de Barcelona
Víctor M. Alfaro Universidad de Costa Rica

DOI:

https://doi.org/10.1016/j.riai.2011.06.003

Palabras clave:

Control PID, Robustez, Incertidumbre

Resumen

En este trabajo se presenta una perspectiva general de los diferentes enfoques existentes, con que se ha afrontado el problema de obtener un controlador proporcional integral derivativo (PID) robusto. La estructura restringida y muy particular que impone el controlador PID, supone por un lado, un atractivo que ha sido la causa de su extenso uso en el sector industrial, pero por el otro, impone una serie de dificultades al plantear la incorporación de consideraciones de robustez en su diseño. Hoy en día, el abanico de posibilidades de diseño de un controlador PID es realmente amplio, pudiendo afrontarse con pŕacticamente cualquier enfoque, en concreto con cualquier enfoque de control robusto. A este respecto, es importante distinguir entre los métodos y las reglas de sintonía, siendo de especial inteŕes en el caso del controlador PID, la generacíon de reglas de sintonía a la vez simples y que proporcionen ciertas garantías de robustez. Como paso previo a esta clasificacíon, conviene establecer de qúe manera se representa y mide la robustez. Por lo tanto, de qúe manera acaba formuĺandose como especificacíon de disáº½no. El trabajo repasa tambíen, conceptos aparecidos recientemente en la literatura del control PID y relacionados con la robustez, como son el cumplimiento de la misma y la fragilidad del controlador.

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Citas

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