Development of a didactic plant and a human-machine interface to compare different digital controllers

Abstract

This article presents a comparison between the effectiveness of controllers strongly consolidated in the classical and modern control theory, for this, several performance indices were used. In order to carry out this research, it was proposed the development of a low cost didactic plant with two inputs and one output, with dynamics similar to those of heavy cargo transport aerial vehicles used in the military area. In addition to the elaboration of the didactic process, this work includes the development of a human-machine interface to control the angular position of the plant in real time. The results show that the construction of the didactic process was performed successfully, because the plant worked as expected, in addition, the responses obtained to the PID , LQR and LQG controllers corresponded satisfactorily.