Controle H∞ Baseado na Equação de Riccati Dependente de Estado para Sistemas Dinâmicos Multivariáveis Não Lineares

Abstract

In this dissertation, the H∞ control based on the state-dependent Riccati equation (SDRE) is presented and applied in nonlinear systems. Initially, the control theory fundamentals are presented in their traditional context, with solutions based on the Riccati equation. Then, FPRE (forward-propagating Riccati equation) and FTRE (frozen-time Riccati equation) techniques are presented as suitable solutions for dealing with linear time varying and nonlinear systems. The FTRE technique, in particular, is used as a basis in the H∞ control technique formulation. The present work also proposes an extension of the FTRE for the tracker case. With respect to the H∞ control design, a weighting matrix over the energy of the output variable to be controlled is considered in the H∞ control cost function. Preceding the H∞ controller design, a plant model as well as a structure with state dependent coefficients (SDC) are developed. Through simulation results, an efficacy of the techniques presented and evaluated throughout the text.