Robustní algoritmy řízení dynamických systémů

Abstract

This thesis deals with the design of robust control algorithms working in sliding mode using the state variables aggregation method. This procedure allows easy design of nonrobust (the knowledge of the mathematical model of controlled subsystem and operating disturbances are required) and robust control algorithms (precise knowledge of the mathematical model and operating disturbances are not required). Designed algorithms were modified to avoid the windup effect. For validation of the proposed control algorithms a three - phase induction motor, which is generally represented by a high - order nonlinear model, was chosen as a controlled system. The feedback structure of vector oriented control creates MIMO closed loop contol system. The designed control algorithms were verified by computer simulation in MATLAB - Simulink and using a real model. The real model was controlled by development computer National Instrument Single Board RIO Evaluation Kit sbRIO-9636 including LabVIEW software for development and implementation.