Diseño de Observadores No Lineales para Plantas Mecatrónicas por Medio de LMIs

Francisco Javier Martínez-Velázquez; Víctor  Estrada-Manzo; Miguel Bernal-Reza

doi:10.29057/icbi.v8i16.5973

Francisco Javier Martínez-Velázquez Universidad Politécnica de Pachuca https://orcid.org/0000-0002-2033-3756
Víctor Estrada-Manzo Universidad Politécnica de Pachuca https://orcid.org/0000-0002-2902-8424
Miguel Bernal-Reza Instituto Tecnológico de Sonora https://orcid.org/0000-0003-3488-6180

DOI: https://doi.org/10.29057/icbi.v8i16.5973

Palabras clave: Diseño de observadores no lineales, sistema descriptor, factorización del error, desigualdad matricial lineal, modelado convexo

Resumen

En este artículo se realiza el diseño de observadores para sistemas descriptores no lineales en tiempo discreto mediante técnicas convexas. El enfoque se basa en una factorización exacta del error de observación recientemente aparecida, para superar el conocido problema de las variables de ponderación no medibles dentro del modelos convexos, evitando así el uso de constantes de Lipschitz, teorema diferencial de valor medio o técnicas robustas. Como resultado, las condiciones de diseño se expresan en términos de desigualdades matriciales lineales y se resuelven eficientemente a través de técnicas de optimización convexa. La efectividad de la propuesta se ilustra a través del péndulo de Furuta.

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