Controle de um Sistema Não Linear Utilizando Teoria da Dissipatividade e uma Estratégia Iterativa Sum-of-Squares (SOS)

Abstract

Nonlinear dynamic systems play a fundamental role in the study and control of many real-world processes. Various approaches have been proposed to design controllers for these systems, followed by advances in computational power, new strategies for optimizing these controls emerge. In this work the mathematical models of a conveyor belt and a nonlinear pneumatic actuator are utilized to develop a controller using the dissipativity theory, aiming to evaluate its performance in velocity control. To emulate the behavior of a nonlinear pneumatic actuator, a conveyor belt system consisting of an industrial conveyor belt driven by a frequency inverter, aided by an electronic circuit, was employed. The controller design utilizes the dissipativity theory and MATLAB’s SOSTools to find stabilizing control at any equilibrium point within an attraction domain.