Modelagem e controle robusto paramétrico aplicados a sistemas driven-right-leg para rejeição de ruídos em amplificadores biopotenciais.

Abstract

The Driven-Right-Leg (DRL) system is widely applied to mitigate the effects of common mode voltage in biopotential amplifiers. It works as a closed-loop controller, whose objective is to reject disturbances caused by the capacitive coupling of the human body with the power line. In this work, the DRL system is evaluated from a robust parametric control point of view, with the intention of doing a more complete evaluation than the one found in the literature, measuring gain, phase and module extremal margins. The range of interval parametric variations, found in the literature, were used to describe the parametric uncertainties that disturb the studied system. Furthermore, a Lead-Lag controller was designed based on the model under parametric variation obtained, showing how both the analysis and synthesis of DRL controllers can be done with the presented theory. The results obtained were discussed in comparison with the DRL systems found in the specialized literature.