Projeto de observador de estado e controle robusto para sistemas dinâmicos com variáveis de estado parcialmente disponíveis

Abstract

This work addresses the control problem of dynamic systems whose state variables cannot be fully measured, a situation commonly found in practical applications due to physical, economic, or safety limitations. To overcome this difficulty, state observers are used to estimate the inaccessible variables based on system output measurements and a mathematical model of the system. In this context, the work proposes the use of Linear Matrix Inequalities (LMIs) as a tool for the design of robust observers and controllers. The proposed methodology is applied to an active suspension system, combining state observers, 𝐻∞ control, and D-stability. Simulation and implementation results obtained from a bench-scale active suspension system demonstrate the capability of the proposed method to estimate unmeasured states and to ensure system stability and performance even in the presence of disturbances.