IMPLEMENTATION AND ANALYSIS OF A DISCRETE PID CONTROLLER APPLIED TO A SYSTEM SUBJECT TO DISTURBANCES

This work paper presents the development, implementation and analysis of a discrete PID controller applied to a system subject to disturbances. From the analysis and analytical model of the open-loop behavior of the ideal model of a direct current (DC) motor, a discrete PID controller was designed and implemented. A discrete PID controller was designed and implemented which is verified in a simulation tool where its behavior was analyzed under different disturbances, to check the dynamic response of the system, different disturbances are performed in the form of step input at different time instants and with different amplitudes (t=0s and amplitude 2, t=5s and amplitude 5, t=12s and amplitude-4). The tuning of the controller is performed considering the calculated parameters and the behavior of the system in the presence of disturbances is analyzed by using the numerical calculation software and Matlab programming environment, as well as the Simulink simulation tool to graphically represent the response of the designed system, making the relevant adjustments to the controller. Where results are obtained, such as the reduction of oscillations, an improvement of reference tracking and correcting the response of the control signal to ±500V, in the presence of disturbances, avoiding damage to the motor. Resulting in the design of 5 different discrete PID controllers based on the solutions chosen during the development of the controller; of which it is discussed comparatively which option represents the best performance of the system under disturbances; presenting the best functionality and usability, as well as ways to improve the proposed system in subsequent works.