Realimentação de Estados com Reiniciação Adaptativa de Integrador

In this paper, a novel methodology is proposed for designing a hybrid control law through state feedback with adaptive integrator reset. With the aim of enabling an improvement in the tracking of piecewise constant setpoints and rejection of external disturbances, the system is augmented with the inclusion of the tracking error integral state, whose value is reset when a certain jump condition is satisfied. Therefore, as predicted in the literature, the proposed hybrid controller with reset is capable of improving system performance when compared to its respective linear controller. Furthermore, conditions for exponential stability analysis are proposed using Linear Matrix Inequalities (LMIs) and the performance is verified by means of computer simulations of a coupled tanks system, followed by comparison of typical indices calculated.