Comparação de desempenho das técnicas de controle PID e por modo deslizante no rastreamento de trajetórias de um sistema dinâmico não linear com motores de hélice

Abstract

Currently, control systems are gaining more and more prominence in the scientific environment and in the industrial environment, this wider scope of control systems is mainly due to the theoretical and technological advances in control engineering. This advance involves the solidification of increasingly robust control techniques, especially non-linear control techniques. In view of this fact, this work consists of comparing the PID linear control technique and the non-linear sliding control technique, both techniques being applied in a second order nonlinear dynamic system. The comparison of the PID control and the control by sliding mode, discussed in this work, took place from numerical simulations of the Seesaw Propeller system and also through physical experiment using a real plant of the system. The results presented in this work contain the individual performance of each controller, from a quantitative analysis of its performance, these analyzes were made for both the numerical simulations and the experiments carried out. These results are expressed throughout the work by means of graphs and through the analysis of the mean square error presented by each controller.