Article

Sintonización de los controladores PID de 2GdL: desempeño, robustez y fragilidad

Departamento de Automática, Escuela de Ingeniería Eléctrica, Universidad de Costa Rica, 11501-2060, Costa Rica; Departament de Telecomunicació i d'Enginyeria de Sistemes, ETSE Universitat Autònoma de Barcelona, 08193, Bellaterra, Barcelona
01/2010;

ABSTRACT Resumen: En este artículo se plantean los aspectos a considerar en el momento de sintonizar un controlador proporcional integral derivativo (PID) de dos grados de libertad (2GdL): el desempeño ante los cambios en la perturbación de carga y en el valor deseado de la variable controlada, la robustez del lazo de control ante los cambios en las características dinámicas del proceso controlado y la fragilidad del controlador ante la variación de sus propios parámetros. Mediante un ejemplo se muestran y analizan las relaciones entre estos tres índices. Su análisis integral durante el proceso de diseño, permite estimar de una mejor manera el funcionamiento del lazo de control.

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