Información del artículo
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 dis¿no. 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.
Palabras clave:
Control PID
Robustez
Incertidumbre
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