Metodologia para rastreamento com modificação dos zeros e rejeição de distúrbio aplicada a sistemas incertos

The methodology for tracking system and disturbance rejection considering polytopic uncertainties in the plant is proposed in this work. The process of disturbance rejection is make though of the dynamic feedback of the system using a controller K_p(s) that minimize the ℋ₂-norm guaranteed cost from w(t) para z(t), where w(t) is the disturbance signal and z(t) is the output of the system. And so, one use the optimal zeros modification with purpose of to design the tracking system. In this way, the modification of the zeros is used to minimize the ℋ_∞-norm guaranteed cost from the reference input signal to the tracking error signal, where the tracking error signal was diference between the reference input signal and output signal of the system. The design is formulated in Linear Matrix Inequality (LMI) framework, when it presents a solution, the optimal solution of the stated control problem is obtained. Two practical examples illustrate the effectiveness of the proposed method.