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Desarrollo de una estrategia de control basado en ADRC, aplicada a un sistema de bola y viga

dc.contributor.authorDíaz Garcés, Faber Orlando
dc.contributor.authorRegino Ubarnes, Fernando Jesús
dc.coverage.spatialColombiaen_US
dc.date.accessioned2025-10-21T14:52:40Z
dc.date.available2025-10-21T14:52:40Z
dc.date.issued2020-01-01
dc.identifier.issn2011-642Xen_US
dc.identifier.urihttps://repositorioinstitucional.ufpso.edu.co/xmlui/handle/20.500.14167/5837
dc.description.abstractEste documento describe el desarrollo de una estrategia de control basada en el rechazo activo de perturbaciones (CRAP), como lo es el Control Proporcional Integral Generalizado (GPI) el cual se le aplica a un sistema Ball and Beam. En esta investigación se pretende mostrar las ventajas de la estrategia de control GPI en cuanto a seguimiento y rechazo se perturbaciones, frente a las técnicas de control clásicas como lo es el controlador proporcional, integral y derivativo (PID). La validación de este diseño parte del modelamiento del sistema realimentado y con dicho modelo se realizaron simulaciones en condiciones nominales, aplicando las dos estrategias de control. Se encontró que el control GPI presentó un mejor desempeño ya que logra un porcentaje de Error cuadrático medio menor al del control PID, aun en presencia de perturbaciones, por lo que es posible afirmar que el error tiende asintóticamente a cero siempre que las ganancias del polinomio del error sean lo suficientemente grandes.en_US
dc.language.isospaen_US
dc.relationhttps://revistas.ufps.edu.co/index.php/ingenio/article/view/2391en_US
dc.titleDesarrollo de una estrategia de control basado en ADRC, aplicada a un sistema de bola y vigaen_US
dc.title.translatedDevelopment of a control strategy based on ADRC, applied to a ball and beam systemen_US
dc.contributor.cvlacFaber Orlando Díaz Garcés [0000168080]en_US
dc.contributor.cvlacFernando Jesús Regino Ubarnes [0001508915]en_US
dc.contributor.orcidFaber Orlando Díaz Garcés [0000-0002-3970-0560]en_US
dc.contributor.orcidFernando Jesús Regino Ubarnes [0000-0003-0414-8654]en_US
dc.contributor.researchgateFernando Jesús Regino Ubarnes [Fernando-Regino]en_US
dc.contributor.scopusFernando Jesús Regino Ubarnes [57212414222]en_US
dc.description.abstractenglishThis document describes the development of a control strategy based on active disturbance rejection (APRR), such as the Generalized Proportional Integral (GPI) control, which is applied to a Ball and Beam system. This research aims to show the advantages of the GPI control strategy in terms of tracking and disturbance rejection, compared to classical control techniques such as the proportional, integral and derivative (PID) controller. The validation of this design is based on the modeling of the feedback system and with this model, simulations were performed under nominal conditions, applying the two control strategies. It was found that the GPI control presented a better performance since it achieves a lower Root Mean Square Error percentage than the PID control, even in the presence of disturbances, so it is possible to affirm that the error tends asymptotically to zero as long as the error polynomial gains are large enough.en_US
dc.subject.proposalControl PIDen_US
dc.subject.proposalControl Proporcional Integral Generalizadoen_US
dc.subject.proposalModelamientoen_US
dc.subject.proposalRechazo de perturbacionesen_US
dc.subject.keywordsPID controlen_US
dc.subject.keywordsGeneralized Proportional Integral Controlen_US
dc.subject.keywordsModelingen_US
dc.subject.keywordsDisturbance rejectionen_US
dc.publisher.facultyFacultad ingenieríasen_US
dc.type.redcolhttp://purl.org/redcol/resource_type/ARTen_US
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dc.identifier.DOIhttps://doi.org/10.22463/2011642X.2391en_US


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