Benchmark de controladores PID, Fuzzy y LQR aplicados a un bean&ball mediante un WNCS

Abstract

The control theory has been integrated into technology since the time of the industrial revolution, there are cases of everyday life which are simple to solve while at the industrial level complicated situations arise in systems which makes them unstable either by the variables that handle or disturbances that inflict on the system, for these cases a solution is the application of more complex and robust control methods, Based on this point and based on a detailed investigation was identified a test model of different controllers which present an unstable dynamics, this being a benchmark of PID controllers, FUZZY and LQR applied to a system bar and ball, previous research has explored various alternatives such as the implementation of LQR models, PID, FUZZY and PD highlighting the importance of adapting the control algorithms depending on the characteristics presented by the systems. While wireless network control (WNCS) combines control theory and telecommunications in order to develop real-time cyber-physical systems, a comparison was made between the different controllers. The results show that depending on the setpoint, one controller may be better than the other two; however, a dominance of the LQR controller was determined based on settling times and steady state error.