Efeitos organizacionais da implantação de metas e remuneração variável por desempenho: o caso da segurança pública em Minas Gerais

Quais os efeitos práticos que a cobrança de metas provoca nas instituições e nos servidores públicos? E quando se vincula premiações financeiras a elas, qual o resultado? O Brasil vive uma onda recente de implantação de modelos de remuneração variável por desempenho no setor público. Minas Gerais universalizou o sistema em 2008, implantando o Acordo de Resultados e o Prêmio por Produtividade, já tendo gasto 1,3 bilhão de reais com o programa. Mas o otimismo dos gestores não encontra fundamento na teoria. A literatura mostra que sistemas de remuneração variável no setor público fracassam ou têm sucesso muito limitado (OCDE, 2005; Perry, Engbergs e Jun, 2009; Bowman, 2010; Weibel, Rost e Osterloh 2010). Conflitos, dificuldade de mensuração do desempenho, fraude e incapacidade de motivar servidores públicos têm direcionado experiências de incentivo ao fracasso. Alguns poucos estudos mostram que, sob certas condições, a remuneração variável por desempenho pode gerar resultados positivos (Marsden, 2010). Seria o sistema mineiro capaz de superar o pessimismo dos especialistas e alcançar resultados positivos? Quais mecanismos de fato operam quando se implementa metas e remuneração variável em instituições públicas? Este trabalho busca responder estas questões a partir do estudo de caso de três organizações da segurança pública em Minas Gerais: Polícia Militar, Polícia Civil e Corpo de Bombeiros Militar. Foram feitas 46 entrevistas com policiais, bombeiros e com a cúpula das instituições, analisados dados estatísticos – que avaliam a evolução do desempenho, observação participante e monitoramento da percepção da mídia sobre tais efeitos. O resultado mostra que metas e incentivos financeiros geraram profundas mudanças nas instituições pesquisadas. Na Polícia Civil houve crescimento da produtividade, aumento do controle e melhoria de processos internos. Entretanto, o foco na produção quantitativa de inquéritos gerou incentivos para a redução de sua qualidade. Na Polícia Militar observou-se impacto menor, uma vez que esta já havia auferido no passado recente ganhos que o uso de indicadores e metas poderia proporcionar. Ainda assim, observou-se aumento da cobrança interna de resultados. Esse fato foi um dos fatores que contribuiu para um efeito negativo importante: a reclassificação de crimes. Uma estrutura de incentivos e a ausência de obstáculos levaram alguns policiais a reclassificar crimes que tinham natureza próxima para melhorar as estatísticas de suas unidades. No Corpo de Bombeiros o impacto foi altamente positivo, levando a instituição a conceber novas estratégias, gerando ganhos importantes de produtividade e melhoria de resultados para o cidadão. O resultado mostra que metas e incentivos financeiros são muito poderosos e podem gerar resultados positivos ou negativos, dependendo da forma como são implementados. As evidências contradizem, em parte, o pessimismo dos acadêmicos e descortinam o funcionamento dos mecanismos que fazem metas e remuneração variável interferirem no resultado de organizações públicas.

Controlador em modo dual adaptativo robusto - DMARC

The so-called Dual Mode Adaptive Robust Control (DMARC) is proposed. The DMARC is a control strategy which interpolates the Model Reference Adaptive Control (MRAC) and the Variable Structure Model Reference Adaptive Control (VS-MRAC). The main idea is to incorporate the transient performance advantages of the VS-MRAC controller with the smoothness control signal in steady-state of the MRAC controller. Two basic algorithms are developed for the DMARC controller. In the first algorithm the controller's adjustment is made, in real time, through the variation of a parameter in the adaptation law. In the second algorithm the control law is generated, using fuzzy logic with Takagi-Sugeno s model, to obtain a combination of the MRAC and VS-MRAC control laws. In both cases, the combined control structure is shown to be robust to the parametric uncertainties and external disturbances, with a fast transient performance, practically without oscillations, and a smoothness steady-state control signal

Controle adaptativo robusto para um modelo desacoplado de um robô móvel

This thesis presents a new structure of robust adaptive controller applied to mobile robots (surface mobile robot) with nonholonomic constraints. It acts in the dynamics and kinematics of the robot, and it is split in two distinct parts. The first part controls the robot dynamics, using variable structure model reference adaptive controllers. The second part controls the robot kinematics, using a position controller, whose objective is to make the robot to reach any point in the cartesian plan. The kinematic controller is based only on information about the robot configuration. A decoupling method is adopted to transform the linear model of the mobile robot, a multiple-input multiple-output system, into two decoupled single-input single-output systems, thus reducing the complexity of designing the controller for the mobile robot. After that, a variable structure model reference adaptive controller is applied to each one of the resulting systems. One of such controllers will be responsible for the robot position and the other for the leading angle, using reference signals generated by the position controller. To validate the proposed structure, some simulated and experimental results using differential drive mobile robots of a robot soccer kit are presented. The simulator uses the main characteristics of real physical system as noise and non-linearities such as deadzone and saturation. The experimental results were obtained through an C++ program applied to the robot soccer kit of Microrobot team at the LACI/UFRN. The simulated and experimental results are presented and discussed at the end of the text

Técnica de controle adaptativo robusto aplicada a filtros ativos de potência e paralelo

The Methods for compensation of harmonic currents and voltages have been widely used since these methods allow to reduce to acceptable levels the harmonic distortion in the voltages or currents in a power system, and also compensate reactive. The reduction of harmonics and reactive contributes to the reduction of losses in transmission lines and electrical machinery, increasing the power factor, reduce the occurrence of overvoltage and overcurrent. The active power filter is the most efficient method for compensation of harmonic currents and voltages. The active power filter is necessary to use current and voltage controllers loop. Conventionally, the current and voltage control loop of active filter has been done by proportional controllers integrative. This work, investigated the use of a robust adaptive control technique on the shunt active power filter current and voltage control loop to increase robustness and improve the performance of active filter to compensate for harmonics. The proposed control scheme is based on a combination of techniques for adaptive control pole placement and variable structure. The advantages of the proposed method over conventional ones are: lower total harmonic distortion, more flexibility, adaptability and robustness to the system. Moreover, the proposed control scheme improves the performance and improves the transient of active filter. The validation of the proposed technique was verified initially by a simulation program implemented in C++ language and then experimental results were obtained using a prototype three-phase active filter of 1 kVA

Uma abordagem indireta para o Controlador em Modo Dual Adaptativo Robusto

In this work is proposed an indirect approach to the DualMode Adaptive Robust Controller (DMARC), combining the typicals transient and robustness properties of Variable Structure Systems, more specifically of Variable Structure Model Reference Adaptive Controller (VS-MRAC), with a smooth control signal in steady-state, typical of conventional Adaptive Controllers, as Model Reference Adaptive Controller (MRAC). The goal is to provide a more intuitive controller design, based on physical plant parameters, as resistances, inertia moments, capacitances, etc. Furthermore, with the objective to follow the evolutionary line of direct controllers, it will be proposed an indirect version for the Binary Model Reference Adaptive Controller (B-MRAC), that was the first controller attemptting to act as MRAC as well as VS-MRAC, depending on a pre-defined fixed parameter

Uma proposta de um controlador adaptativo por posicionamento de pólos e estrutura variável

There are two main approaches for using in adaptive controllers. One is the so-called model reference adaptive control (MRAC), and the other is the so-called adaptive pole placement control (APPC). In MRAC, a reference model is chosen to generate the desired trajectory that the plant output has to follow, and it can require cancellation of the plant zeros. Due to its flexibility in choosing the controller design methodology (state feedback, compensator design, linear quadratic, etc.) and the adaptive law (least squares, gradient, etc.), the APPC is the most general type of adaptive control. Traditionally, it has been developed in an indirect approach and, as an advantage, it may be applied to non-minimum phase plants, because do not involve plant zero-pole cancellations. The integration to variable structure systems allows to aggregate fast transient and robustness to parametric uncertainties and disturbances, as well. In this work, a variable structure adaptive pole placement control (VS-APPC) is proposed. Therefore, new switching laws are proposed, instead of using the traditional integral adaptive laws. Additionally, simulation results for an unstable first order system and simulation and practical results for a three-phase induction motor are shown

Controlador adaptativo backstepping a estrutura variável

Neste trabalho, um controlador adaptativo backstepping a estrutura variável (Variable Structure Adaptive Backstepping Controller, VS-ABC) é apresentado para plantas monovariáveis, lineares e invariantes no tempo com grau relativo unitário. Ao invés das tradicionais leis integrais para estimação dos parâmetros da planta, leis chaveadas são utilizadas com o objetivo de aumentar a robustez em relação a incertezas paramétricas e distúrbios externos, bem como melhorar o desempenho transitório do sistema. Adicionalmente, o projeto do novo controlador é mais intuitivo quando comparado ao controlador backstepping original, uma vez que os relés introduzidos apresentam amplitudes diretamente relacionadas com os parâmetros nominais da planta. Esta nova abordagem, com uso de estrutura variável, também reduz a complexidade das implementações práticas, motivando a utilização de componentes industriais, tais como, FPGAs (Field Programmable Gate Arrays ), MCUs (Microcontrollers) e DSPs (Digital Signal Processors). Simulações preliminares para um sistema instável de primeira e segunda ordem são apresentadas de modo a corroborar os estudos. Um dos exemplos de Rohrs é ainda abordado através de simulações, para os dois cenários adaptativos: o controlador backstepping adaptativo original e o VS-ABC

Controlador adaptativo por modelo de referência e estrutura variável aplicado ao controle de ângulo de carga e fluxo de campo de um gerador síncrono

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior

Estudo comparativo de estratégias de controle aplicadas a um gerador síncrono

The robustness and performance of the Variable Structure Adaptive Pole Placement Controller are evaluated in this work, where this controller is applied to control a synchronous generator connected to an infinite bus. The evaluation of the robustness of this controller will be accomplished through simulations, where the control algorithm was subjected to adverse conditions, such as: disturbances, parametric variations and unmodeled dynamic. It was also made a comparison of this control strategy with another one, using classic controllers. In the simulations, it is used a coupled model of the synchronous generator which variables have a high degree of coupling, in other words, if there is a change in the input variables of the generator, it will change all outputs simultaneously. The simulation results show which control strategy performs better and is more robust to disturbances, parametric variations and unmodeled dynamics for the control of Synchronous Generator

Controlador adaptativo backstepping a estrutura variavel com Observadores de estado

This research aims at developing a variable structure adaptive backstepping controller (VS-ABC) by using state observers for SISO (Single Input Single Output), linear and time invariant systems with relative degree one. Therefore, the lters were replaced by a Luenberger Adaptive Observer and the control algorithm uses switching laws. The presented simulations compare the controller performance, considering when the state variables are estimated by an observer, with the case that the variables are available for measurement. Even with numerous performance advantages, adaptive backstepping controllers still have very complex algorithms, especially when the system state variables are not measured, since the use of lters on the plant input and output is not something trivial. As an attempt to make the controller design more intuitive, an adaptive observer as an alternative to commonly used K lters can be used. Furthermore, since the states variables are considered known, the controller has a reduction on the dependence of the unknown plant parameters on the design. Also, switching laws could be used in the controller instead of the traditional integral adaptive laws because they improve the system transient performance and increase the robustness against external disturbances in the plant input

Controle adaptativo por modelo de referencia e estrutura variável discreto no tempo

With the technology progess, embedded systems using adaptive techniques are being used frequently. One of these techniques is the Variable Structure Model- Reference Adaptive Control (VS-MRAC). The implementation of this technique in embedded systems, requires consideration of a sampling period which if not taken into consideration, can adversely affect system performance and even takes the system to instability. This work proposes a stability analysis of a discrete-time VS-MRAC accomplished for SISO linear time-invariant plants with relative degree one. The aim is to analyse the in uence of the sampling period in the system performance and the relation of this period with the chattering and system instability

Comparative study of LMI-based output feedback spr synthesis for plants with different numbers of inputs and outputs

New Linear Matrix Inequalities (LMI) conditions are proposed for the following problem, called Strictly Positive Real (SPR) synthesis: given a linear time-invariant plant, find a constant output feedback matrix Ko and a constant output tandem matrix F for the controlled system to be SPR. It is assumed that the plant has the number of outputs greater than the number of inputs. Some sufficient conditions for the solution of the problem are presented and compared. These results can be directly applied in the LMI-based design of Variable Structure Control (VSC) of uncertain plants. ©2008 IEEE.

Worker participation in company profits or operating results in Latin America

Includes bibliography

Interactive simulation of flexible parts

Computer simulations play an ever growing role for the development of automotive products. Assembly simulation, as well as many other processes, are used systematically even before the first physical prototype of a vehicle is built in order to check whether particular components can be assembled easily or whether another part is in the way. Usually, this kind of simulation is limited to rigid bodies. However, a vehicle contains a multitude of flexible parts of various types: cables, hoses, carpets, seat surfaces, insulations, weatherstrips... Since most of the problems using these simulations concern one-dimensional components and since an intuitive tool for cable routing is still needed, we have chosen to concentrate on this category, which includes cables, hoses and wiring harnesses. In this thesis, we present a system for simulating one dimensional flexible parts such as cables or hoses. The modeling of bending and torsion follows the Cosserat model. For this purpose we use a generalized spring-mass system and describe its configuration by a carefully chosen set of coordinates. Gravity and contact forces as well as the forces responsible for length conservation are expressed in Cartesian coordinates. But bending and torsion effects can be dealt with more effectively by using quaternions to represent the orientation of the segments joining two neighboring mass points. This augmented system allows an easy formulation of all interactions with the best appropriate coordinate type and yields a strongly banded Hessian matrix. An energy minimizing process accounts for a solution exempt from the oscillations that are typical of spring-mass systems. The use of integral forces, similar to an integral controller, allows to enforce exactly the constraints. The whole system is numerically stable and can be solved at interactive frame rates. It is integrated in the DaimlerChrysler in-house Virtual Reality Software veo for use in applications such as cable routing and assembly simulation and has been well received by users. Parts of this work have been published at the ACM Solid and Physical Modeling Conference 2006 and have been selected for the special issue of the Computer-Aided-Design Journal to the conference.

Água residuária da mandioca como fertilizante orgânico em pasto de Brachiaria brizantha cv. Marandu

Brazil is the world's second largest producer of cassava, which most of the production is used to make flour and starch, generating large amounts of waste, cassava. In general, this waste is disposed of directly into the soil and waterways, causing serious environmental impacts. In view of this, the aim of this work was to evaluate the use of cassava wastewater water (cassava) as organic fertilizer in Brachiaria brizantha pasture. Marandu. The experiment was conducted at the Campus Macaíba the Federal University of Rio Grande do Norte. The treatments were increasing rates of cassava, applied to the soil as organic fertilizer. The experimental design was a randomized block design with six treatments and four replications. The treatments consist of cassava doses (0, 15, 30, 60 and 120 m³ ha- 1 ) and a treatment with mineral fertilizer (AM) in the form of NPK (140: 30: 120 kg ha-1 ). Three cuts with an interval of 60 days were carried out. The variables evaluated were: plant height; accumulation of morphological components of fodder; Trapping Light (IL); Leaf Area Index (LAI); Total chlorophyll (CT); Feature Production Seca (PMS). The dry matter production at a dose of 120 m³ha-1 had a quantitative increase, with a total production in 2796 kg ha-1 DM in the second cut, providing an increase of 493% compared to control, and the residual effect observed in the third cut caused a 100% increase compared to 0 m³ ha-1 . Comparing the PMS obtained with the use of AM and other treatments it was observed that it was the second cut equivalent to a dose of 120 m³ ha-1 and the third equivalence has been cut at doses 60 and 120 m³ha-1. For the variables plant height, IL, IAF, CT and leaves Mass adding cassava in the soil promoted a positive linear increase for the three cuts. However, with the AM the IAF was superior to the other treatments. The thatched mass reached its highest production (838 kg ha-1 DM) in the second cut when using a dose of 120 m³ha-1 . In dead material mass in the second and third sections, there was increased linearly increased total of 322 and 452% respectively, compared to a dose of 0 m³ha-1 . The use of cassava showed herbicidal effect for the variable mass of the undesirable negative linear response resulting in decreasing the amount of residue with increasing doses. Manipueira can be used as organic fertilizer in Brachiaria brizantha cv. Marandu for improvements in the productive characteristics, as promoted significant increases in 8 most of the variables studied, especially at a dose of 120 m³ha-1 . This benefits the environment by being alternative for disposal of cassava.