Estudo comparativo entre controlador robusto e controlador adaptativo

Abstract

With the advancement of automated systems and the increasing complexity of industrial processes, the development of control strategies capable of ensuring performance, stability, and robustness under different operating conditions has become increasingly important. In this context, this work presents a comparative study between classical, adaptive, and robust control techniques applied to a direct current (DC) motor. PID, MRAC (Model Reference Adaptive Control), STR (Self-Tuning Regulator), Loop Shaping, and H∞ controllers were designed and implemented using the MATLAB/Simulink environment for modeling and simulation. The controllers were evaluated through step and ramp responses, both under nominal conditions and in the presence of disturbances, including load variations, measurement noise, parametric changes, and unmodeled uncertainties. The results demonstrated significant differences among the analyzed methodologies, showing that adaptive controllers provide greater adjustment capability in the presence of plant variations, while robust controllers offer greater stability and lower sensitivity to disturbances. The PID controller presented satisfactory performance under nominal conditions, whereas the Loop Shaping controller demonstrated one of the fastest and most stable responses. The H∞ controller, in turn, exhibited high robustness against the considered uncertainties. It is concluded that the choice of a control strategy depends on the characteristics of the application and the desired performance requirements, and that no single solution can be considered universally superior for all scenarios.