Implementación de un controlador de mínima varianza en un péndulo simple

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Leidy Tatiana López Herrera
Julián Camilo Villa Duque


Presenta un controlador de mínima varianza MVR1 para regular la posición angular de un péndulo simple, proceso que se describe por un modelo ARMAX, ya que sobre el sistema actúan diferentes perturbaciones estocásticas. Este controlador busca minimizar el efecto de las perturbaciones sobre la respuesta del sistema, y para esto calcula los valores de la entrada y salida de la planta desde el instante actual hasta un instante k. Se evalúa el desempeño de este controlador respecto a un controlador por realimentación de estados con integrador, utilizando criterios de la integral del error y métricas de respuesta temporal.

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