Projetos de Controladores Fracionários e Preditivos com Testabilidade Usando FPGA-in-the-Loop

Abstract

This work presents a new method of tuning robust FOPID controllers that exhibit iso- damping property, using differential evolution algorithm and L2 norm order reduction algorithm for linear systems. Furthermore, it is presented a multivariable predictive controller based on orthonormal Laguerre functions and with a prescribed degree of stability to be compared with the FOPID proposed. For the validation of both controllers in MATLAB®/Simulink environment, the FPGA-in-the-loop tool was used along with a matrix library for the elaboration of VHDL codes. Thus, the FOPID and MPC controllers were designed to control the operating duty cycle of a Boost converter with constraints, and experimental simulations were performed using a test bench with FPGA to validate both methods. The results of the controllers aforementioned were satisfactory, and in general, the MPC-Boost presented superior dynamic response, however with a higher computational burden as related to the FOPID controller. Finally, this thesis extrapolates the application of a predictive control GPC for tracking polynomial references with orthogonal Laguerre functions, restrictions on the control variable and stability prescription over multivariable systems. The VHDL code elaboration for the GPC type m was compared with its proposed mathematical model, and the results with FPGA-in-the-loop simulation corroborated the method.