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Control predictivo por desacoplo con compensación de ... - CEA

Control predictivo por desacoplo con compensación de ... - CEA

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Diseño <strong>de</strong>l <strong>Control</strong>adorIX Simposio <strong>CEA</strong> <strong>de</strong> Ingeniería <strong>de</strong> <strong>Control</strong>Madrid, 11-12 <strong>de</strong> Abril 2011915<strong>Control</strong> <strong>por</strong> a<strong>de</strong>lantoObjetivo:• Atenuar interacción entre variables• Compensar efecto <strong>de</strong> la perturbaciónG ff(s) = −G d (s)G s(s)Gff(s)dGd(s)w-euC(s) +Gs(s)+y

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