Avaliação da molhabilidade de soluções de tensoativos em aço inoxidável

With the increasing industrialization of the planet caused by globalization, it has become increasingly common to search for highly resistant and durable materials for many diverse branches of activities. Thus, production and demand for materials that meet these requirements have constantly increased with time. In view of this, stainless steel is presented as one of the materials which are suitable applications, due to many features that are interesting for several segments of the industry. Concerns of oil companies over heavy oil reservoirs have grown steadily for the last decades. Rheological properties of these oils impair their transport in conventional flow systems. This problem has created the need to develop technologies to improve flow and transport, reducing operation costs so as to enable oil production in the reservoir. Therefore, surfactant-based chemical systems are proposed to optimize transport conditions, effected by reduction of interfacial tensions, thereby enhancing the flow of oil in ducts and reducing load losses by friction. In order to examine such interactions, a study on the wettability of metallic surfaces has been undertaken, represented by measuring of contact angle of surfactant solutions onto flat plates of 304 stainless steel. Aqueous solutions of KCl, surfactants and mixtures of surfactants, with linear and aromatic hydrocarbon chain and ethoxylation degrees ranging between 20 to 100, have been tested. The wettability was assessed by means of a DSA 100 krüss goniometer. The influence of roughness on the wettability was also investigated by machining and polished the stainless steel plates with sandpapers of references ranging between 100 of 1200. The results showed that sanding and polishing plates result in decrease of wettability. As for the solutions, they have provided better wettability of the stainless steel than the KCl solutions tested. It was also been concluded that surfactant mixtures is an option to be considered, since they promote interactions that generate satisfactory contact angles for a good wettability on the stainless steel plate. Another conclusion refers to the influence of the ethoxylation degree of the nonionic surfactant molecules on wettability. It has been observed that contact angles decrease with decreasing ethoxylation degrees. This leads us to conclude that molecules with higher ethoxylation degree, being more hydrophobic, decrease the interaction of water with the ducts, thereby reducing friction and improving the flow

Aplicação de microemulsão na recuperação de petróleo de reservatórios carbonáticos

The large investment in exploration activities offshore Brazil has generated new findings, generally in carbonate reservoirs, with different wettability conditions usually considered in the sandstone, strongly water-wet. In general, the carbonates reservoirs tend to be oil-wet, it difficult to mobilize of oil these reservoirs. These oils can be mobilized by different methods, or it may reverse the wettability of the surface of the reservoir and facilitate the flow of oil, improving production rates. Thus, the objective of this work was to study the influence of inversion on the wettability of the rock in the production and recovery of petroleum from carbonate reservoirs, using microemulsions. Three systems were chosen with different classes of surfactants: a cationic (C16TAB), an anionic (SDS) and nonionic (Unitol L90). Studies of the influence of salinity on the formation of the microemulsion as well as the characterization of fluids using density and viscosity measurements were also performed. To verify the potential of microemulsion systems in changing the wettability state of the chalk oil-wet to water-wet, contact angle measurements were performed using chalk of neutral-wet as surface material. Overall, with respect to the ionic character of the surfactants tested, the cationic surfactant (C16TAB) had a greater potential for reversal in wettability able to transform the rock wettability neutral to strongly water-wet, when compared with the anionic surfactant (SDS) and nonionic (Unitol L90), which showed similar behavior, improving the wettability of the rock to water. The microemulsions of all surfactants studied were effective in oil recovery, resulting in 76.92% for the system with C16TAB, 67.42% for the SDS and 66.30% for Unitol L90 of residual oil

Modelagem e simulação da solubilização da parafina em tubos circulares e em regime laminar

O óleo produzido nos novos campos de petróleo está cada vez mais parafínico e viscoso, com isso, à medida que o óleo é escoado, parafinas são depositadas sobre as paredes internas do tubo, e ao longo do tempo, tendem a reduzir drasticamente a área transversal ao escoamento. Visando estudar o processo de solubilização da parafina em dutos, esse trabalho objetiva desenvolver modelos matemáticos que represente o processo, com base nos fenômenos envolvidos no mesmo tais como transferência de massa, transferência de energia e equilíbrio sólido-líquido, implementando-os em um ambiente de desenvolvimento VBA (Visual Basic) for Excel ®. O presente trabalho foi realizado em quatro etapas: i) modelagem dos fenômenos de transferência de calor e massa, ii) modelagem da rotina dos coeficientes de atividade através do modelo UNIFAC e modelagem do sistema de equilíbrio sólido-líquido; iii) modelagem matemática do processo de solubilização e cálculo da espessura da parafina ao longo do tempo; iv) implementação dos modelos em um ambiente de desenvolvimento VBA for Excel® e criação de um simulador com uma interface gráfica, para simular o processo de solubilização da parafina depositada em dutos e sua otimização. O simulador conseguiu produzir soluções bastante adequadas, mantendo continuidade das equações diferenciáveis do balanço de energia e de massa, com uma interpretação física viável, sem a presença de dissipação de oscilações nos perfis de temperatura e massa. Além disso, esse simulador visa permitir a simulação nas diversas condições de escoamento, bem como compreender a importância das variáveis (vazão, temperatura de entrada, temperatura externa, cadeia carbônica do solvente). Através dos resultados foram possíveis verificar os perfis de temperatura, fração molar e o de solubilização

Avaliação do comportamento de fluidos micelares na recuperação avançada de petróleo

In heavy oil fields there is a great difficulty of the oil to flow from the reservoir to the well, making its production more difficult and with high cost. Most of the original volumes of oil found in the world are considered unrecoverable by the use of the current methods. The injection of micellar solutions has a direct action in the oil interfacial properties, resulting in an enhanced oil recovery. The objective of this research was the study and selection of micellar solutions with ability to decrease the interfacial interactions between fluids and reservoir formation, increasing oil production. The selected micellar solutions were obtained using commercial surfactants and surfactants synthesized in laboratory, based on the intrinsic properties of these molecules, to use in the enhanced oil recovery. Petroleum Reservoirs were simulated using sandstone plugs from Botucatu formation. Experiments with conventional and enhanced oil recovery techniques were accomplished. The obtained results showed that all micellar solutions were able to enhance oil recovery, and the micellar solution prepared with a SB anionic surfactant, at 2% KCl solution, showed the best recovery factor. It was also accomplished an economic analysis with the SB surfactant solution. With the injection of 20% porous volume of micellar solution, followed by brine injection, the increment in petroleum recovery can reach 81% recovery factor in the 3rd porous volume injected. The increment in the total cost by the addition of surfactant to the injection water represents R$ 7.50/ton of injected fluid

Estudo da viabilidade da destilação solar para polimento de águas produzidas de petróleo

This work study of solar distillation feasibility in effluent of petroleum industry: produced water, making possible your reuse for irrigation of oleaginous cultures or fodder crops or in steam generation, as well the transport phenomena involved. The methodology for development of this project was to characterize the effluent to be treated and to accomplish physical and chemical analysis in the distilled, to build distillation equipment, concomitant operation of both equipments and implementation of data processing and economical evaluation. The methodology used for all parameters is outlined in APHA (1998) and sampling of the type compound. The feeding of distillation equipment was performed with treated effluent from UTPF of Guamaré. The temperature was monitored throughout the distillers and during the time of operation. The distillers feed occur, as a rule, for sifon. The distillers were operated by a period of 17 months between July 2007 and February 2009, in which 40 experiments were performed. The radiation and temperature datas were acquired in the INPE s site and the temperature inside of the distillers was registered by DATALOGGER Novus. The rates of condensation (mL / min) were determined by measuring of the flow in a graduate test tube of 10 mL and a chronometer. We used two simple solar effect distillers of passive type with different angles in coverage: 20 ° and 45 °. The results obtained in this study and the relevant discussions are divided into six topics: sample characterization and quality of distilled; construction of distillers; operation (data, temperature profile), climatic aspects, treatment of data and economical analysis. Results obtained can be inferred that: the energy loss by the adoption of vessel glass was not significant, however, complicates the logistics of maintenance the equipment on a large scale. In the other hand, the surface of the tub with a glass shield on the equipment deterioration, both devices showed similar performance, so there is not justified for use of equipment 450. With regard to the climatological study it was verified that the Natal city presents monthly medium radiation varying in a range between 350 and 600 W/m2, and medium of wind speed of 5 m / s. The medium humidity is around 70% and rainfall is very small. The regime of the system is transient and although it has been treated as a stationary system shows that the model accurately represents the distillers system's 20 degrees. The quality of the distilled with regard to the parameters evaluated in this study is consistent with the Class 3 waters of CONAMA (Resolution 357). Therefore we can conclude that solar distillation has viability for treat oilfield produced water when considered the technical and environmental aspects, although it is not economically viable

Evolução da biodegradabilidade da matéria orgânica em um sistema de lagoas de estabilização

Waste stabilization ponds (WSP) have been widely used for sewage treatment in hot climate regions because they are economic and environmentally sustainable. In the present study a WSP complex comprising a primary facultative pond (PFP) followed by two maturation ponds (MP-1 and MP-2) was studied, in the city of Natal-RN. The main objective was to study the bio-degradability of organic matter through the determination of the kinetic constant k throughout the system. The work was carried out in two phases. In the first, the variability in BOD, COD and TOC concentrations and an analysis of the relations between these parameters, in the influent raw sewage, pond effluents and in specific areas inside the ponds was studied. In the second stage, the decay rate for organic matter (k) was determined throughout the system based on BOD tests on the influent sewage, pond effluents and water column samples taken from fixed locations within the ponds, using the mathematical methods of Least Squares and the Thomas equation. Subsequently k was estimated as a function of a hydrodynamic model determined from the dispersion number (d), using empirical methods and a Partial Hydrodynamic Evaluation (PHE), obtained from tracer studies in a section of the primary facultative pond corresponding to 10% of its total length. The concentrations of biodegradable organic matter, measured as BOD and COD, gradually reduced through the series of ponds, giving overall removal efficiencies of 71.95% for BOD and of 52.45% for COD. Determining the values for k, in the influent and effluent samples of the ponds using the mathematical method of Least Squares, gave the following values respectively: primary facultative pond (0,23 day-1 and 0,09 day-1), maturation 1 (0,04 day-1 and 0,03 day-1) and maturation 2 (0,03 day-1 and 0,08 day-1). When using the Thomas method, the values of k in the influents and effluents of the ponds were: primary facultative pond (0,17 day-1 and 0,07 day-1), maturation 1 (0,02 day-1 and 0,01 day-1) and maturation 2 (0,01 day-1 and 0,02 day-1). From the Partial Hydrodynamic Evaluation, in the first section of the facultative pond corresponding to 10% of its total length, it can be concluded from the dispersion number obtained of d = 0.04, that the hydraulic regime is one of dispersed flow with a kinetic constant value of 0.20 day-1

Investigação dos processos hidrossedimentológicos em parcela experimental no semi-árido potiguar

In northeastern semiarid, seasonality on precipitation temporal distribution, high intensity storm events and inadequate management of native vegetation can promote soil erosion. Vegetation removal causes soil surface exposure, reduces soil water storage capacity and can be the source degradation processes. In this context, this approach aims to analyze water and soil erosion processes on a 250 m2 undisturbed experimental plot with native vegetation, slope 2.5% by using 2006 and 2007 monitoring data. The site was instrumented to monitor rainfall, overland flow runoff and erosion by using a 5 m³ tank downstream the plot. Soil erosion monitoring was made by transported sediment and organic matter collection after each event. Field infiltration experiments were made at 16 points randomly distributed within the plot area by using a constant head infiltrometer during drought and rainy seasons, respectively. Infiltration data revealed high spatial and temporal variability. It was observed that during the beginning of the rainy period, 77% of the events showed runoff coefficient less than 0.05. As the rainy season began, soil water increase produced annual species germination. High intensity storms resulted in runoff coefficients varying between 0.33 and 0.42. Once the annual species was established, it was observed that approximately 39% of the events produced no runoff, which reflects an increase on soil water retention capacity caused by the vegetation. A gradual runoff reduction during the rainy season emphasizes the effect of vegetative density increase. Soil erosion observed data allowed to fit an empirical relationship involving soil loss and precipitation height, which was used to analyze the plot installation impact on soil erosion. Observed soil loss in 2006 and 2007 was 230 Kg/ha and 54 Kg/ha, respectively

Avaliação da produção de sedimento na bacia hidrográfica do rio Potengi através do modelo SWAT

Anthropic disturbances in watersheds, such as inappropriate building development, disorderly land occupation and unplanned land use, may strengthen the sediment yield and the inflow into the estuary, leading to siltation, changes in the reach channel conformation, and ecosystem/water quality problems. Faced with such context, this study aims to assess the applicability of SWAT model to estimate, even in a preliminary way, the sediment yield distribution along the Potengi River watershed, as well as its contribution to the estuary. Furthermore, an assessment of its erosion susceptibility was used for comparison. The susceptibility map was developed by overlaying rainfall erosivity, soil erodibility, the slope of the terrain and land cover. In order to overlap these maps, a multi-criteria analysis through AHP method was applied. The SWAT was run using a five year period (1997-2001), considering three different scenarios based on different sorts of human interference: a) agriculture; b) pasture; and c) no interference (background). Results were analyzed in terms of surface runoff, sediment yield and their propagation along each river section, so that it was possible to find that the regions in the extreme west of the watershed and in the downstream portions returned higher values of sediment yield, reaching respectively 2.8 e 5.1 ton/ha.year, whereas central areas, which were less susceptible, returned the lowest values, never more than 0.7 ton/ha.ano. It was also noticed that in the west sub-watersheds, where one can observe the headwaters, sediment yield was naturally forced by high declivity and weak soils. In another hand, results suggest that the eastern part would not contribute to the sediment inflow into the estuary in a significant way, and the larger part of the sediment yield in that place is due to anthropic activities. For the central region, the analysis of sediment propagation indicates deposition predominance in opposition to transport. Thus, it s not expected that isolated rain storms occurring in the upstream river portions would significantly provide the estuary with sediment. Because the model calibration process hasn t been done yet, it becomes essential to emphasize that values presented here as results should not be applied for pratical aims. Even so, this work warns about the risks of a growth in the alteration of natural land cover, mainly in areas closer to the headwaters and in the downstream Potengi River

Estudo de manejo de águas pluviais urbanas na cidade Natal-Rio Grande do Norte

Urban stormwater can be considered as potential water resources as well as problems for the proper functioning of the manifold activities of the city, resulting from inappropriate use and occupation of the soil, usually due to poor planning of the occupation of the development areas, with little care for the environmental aspects of the drainage of surface runoff. As a basic premise, we must seek mechanisms to preserve the natural flow in all stages of development of an urban area, preserving the soil infiltration capacity in the scale of the urban area, comprising the mechanisms of natural drainage, and noting preserving natural areas of dynamic water courses, both in the main channel and in the secondary. They are challenges for a sustainable urban development in a harmonious coexistence of modern developmental, which are consistent with the authoritative economic environmental and social quality. Integrated studies involving the quantity and quality of rainwater are absolutely necessary to achieve understanding and obtaining appropriate technologies, involving both aspects of the drainage problems and aspects of use of water when subjected to an adequate management of surface runoff , for example, the accumulation of these reservoirs in detention with the possibility of use for other purposes. The purpose of this study aims to develop a computer model, adjusted to prevailing conditions of an experimental urban watershed in order to enable the implementation of management practices for water resources, hydrological simulations of quantity and, in a preliminary way, the quality of stormwater that flow to a pond located at the downstream end of the basin. To this end, we used in parallel with the distributed model SWMM data raised the basin with the highest possible resolution to allow the simulation of diffuse loads, heterogeneous characteristics of the basin both in terms of hydrological and hydraulic parameters on the use and occupation soil. The parallel work should improve the degree of understanding of the phenomena simulated in the basin as well as the activity of the calibration models, and this is supported by monitoring data acquired during the duration of the project MAPLU (Urban Stormwater Management) belonging to the network PROSAB (Research Program in Basic Sanitation) in the years 2006 to 2008

Vicus Judæorum: os judeus e o espaço urbano no Recife neerlandês

This work broaches the participation of the Jewish community in the urban expansion of Recife, Brazil, during the Dutch period (1630-1654). With the arrival of the Dutch, the village of Olinda, former capital of Pernambuco, was destroyed and Recife received the juridical statute of city (stad), becoming the capital of Dutch Brazil or New Holland. It became the main West Indians Company s entrepot in South Atlantic, serving as naval base, port of call for ships, and point of export of the sugar production of Pernambuco, and import of European goods and African slaves. In order to such administrative, military and economic functions be carried out, the sand isthmus where Recife used to stay, and the fluvial island of Antônio Vaz, received improvements of many sort. The Dutch hydraulic technology was put in practice, with a posture of opposition between civilization and nature. Among military works and production of urban equipments, the rivers shores were land-filled, canals were built, bridges were lifted, and hundreds of buildings were erected. The civil Dutch population of Recife engaged in the process of production of physical space, which brought a sense of collective action towards the formation of the urban, or burgher, community. From the physical to the social space, there was an effort towards Dutch cultural standards in the urban environment. The Zur Israel Jewish community, formed by private civilians, it is, nonemployees of the WIC, engaged in those processes. It produced physical space through the land-filling and improvement of non healthy areas, and was also responsible for the construction of a significant section of the town s buildings and some of urban equipments, such as stores, markets and slave-warehouses, making more dynamic their economical activities. But their social traffic was due to the adaptation of their behavior to the standards of Dutch sociability. Thus, the community body made itself part of the social body. Disposing of internal selfregulation, it produced spaces with their cultural references cemetery, synagogue, texts enjoying benefits of the government. Zur Israel inscribed itself in the universal history of the Jews as the first community of Americas, and had a fundamental part on the emancipation of Jews within Western society

Influência da densidade de carga e da massa molar da poliacrilamida na reologia de sistemas microemulsionados

The knowledge of the rheological behavior of microemulsionated systems (SME) is of fundamental importance due to the diversity of industrial applications of these systems. This dissertation presents the rheological behavior of the microemulsionated system formed by RNX 95/alcohol isopropyl/p-toulen sodium sulfonate/kerosene/distilled water with the addition of polyacrylamide polymer. It was chosen three polymers of the polyacrylamide type, which differ in molar weight and charge density. It was studied the addition of these polymers in relatively small concentration 0,1% in mass and maximum concentration of 2,0%. It was made analysis of flow to determine the appearing viscosities of the SME and rheological parameters applying Bingham, Ostwald de Waale and Herschell-Buckley models. The behavior into saline environment of this system was studied for a solution of KCl 2,0%, replacing the distilled water. It was determined the behavior of microemulsions in relation with the temperature through curves of flow in temperatures of 25 to 60ºC in variations of 5ºC. After the analysis of the results the microemulsion without the addition of polymer presented a slight increase in its viscosity, but it does not mischaracterize it as a Newtonian fluid. However the additive systems when analyzed with low concentration of polymer adjusted well to the applied models, with a very close behavior of microemulsion. The higher concentration of the polymer gave the systems a behavior of plastic fluid. The results of the temperature variation point to an increase of viscosity in the systems that can be related to structural changes in the micelles formed in the own microemulsion without the addition of polymer

Avaliação do potencial tóxico de águas oriundas de irrigação agrícola no Baixo-Açu/RN: um problema socioambiental

For many decades the problematic raised about the indiscriminate use of pesticides in modern agriculture has incited the interest of many researchers to discover the effects caused by such products in the environment and consequently in the life of the ones which use that products (farmers) and those people who live in places next to the agricultural areas. Facing these facts, this research had the intention of comprehend the environmental perception of habitants of the Distrito Irrigado do Baixo-Açu (DIBA), located in the semiarid of Rio Grande do Norte, by using agro toxics and its possible environmental effects, as well as evaluate the levels of toxicity of waters from agricultural runoff in this region by using eco-toxicological exams with Ceriodaphnia silvestii. Were done 86 interviews with dwellers and farmers from DIBA. With the results reached in the evaluation of the interviews it was possible to identify that one of major problems is the inappropriate discard of empty packs of the pesticides used at that place. The samples collected for eco-toxicological evaluation showed a variation in its toxicity, once that the point of collect which receives waters from different cultures presented in four out of five samples toxicity for the tested species. Therefore, it concludes that the indiscriminate use of pesticides agricultural practice presented a potential to pollute to the irrigation waters, and the absence of elucidation by the farmers about the manipulation of these products contribute to the risk of environmental contamination and the possible decrease of the quality of life of the dwellers of the region

Evolução da paisagem do baixo curso do rio de Piranhas-Assu (1988-2024): uso de autômatos celulares em modelo dinâmico espacial para simulação de cenários futuros

The lower course of Piranhas-Assu river, located in the north coast of Rio Grande do Norte, Brazil, arouses a keen interest as a study field, once it concentrates, besides petroleum and gas exploration, activities related to shrimp culture, salt and horticulture, factors that also deserve special attention. Thus, the awareness of the study field environmental stage demands studies from researchers and discernment from society, as a way of understanding the inter-relation between environment and men. Therefore, this work attempts at understanding and studying the dynamics of land use in the lower course of Piranhas-Assu river, through a multitemporal analysis of present and past, accomplishing future projections through simulation models. The work is divided in stages that include the research, analysis, interpretation of results, and the generation of simulation models, to analyze the landscape tendencies, making possible to identify indicators which cause such changes in the lower course of the river. From Geographical Database, the necessary exploratory analyses were accomplished to the following items: land use evolution, natural and environmental vulnerability, multiple geodiversity indexes, and preparation of the data to be used in the simulation model. Later, the construction of the landscape simulation model was conducted. Sequentially, simulations of future sceneries were accomplished through the execution of the model in a specific software environment. Last, the analyses of landscape tendencies in the study field were carried out. The lower course of Piranhas-Assu River didn't show any intense dynamics in landscape changing, once in the period taken into account (from 1988 to 2004) class stability proved to be superior to its transformations. Activities related to agriculture and livestock are the ones that influence, mostly, the landscape dynamics. The production of sea shrimp and petroleum also infers in the landscape, although in smaller proportion. INCRA s public policies excessively determined the dynamics of the landscape in the lower course of Piranhas-Assu River, RN. In respect to its natural vulnerability, the lower course of Piranhas-Assu River, RN, features more vulnerable than stable areas. The landscape simulation, in the first taken period (2004-2009), indicated considerable increases and decreases of antropic activities, if compared to its sequent periods (2009-2014, 2014-2019 and 2019-2024). The simulation, in a wider analysis, showed that the determining factors for the space mobility of antropic activities, in the focused area, are related to the pre-existence of communities with agricultural capability and to the existence of access routes and drainage. Considering the area that features fixed and mobile dunes, located in Porto do Mangue district, we recommend its conversion into a conservation area

Simulação de Fluxo no Meio Poroso Utilizando o Fluent

The complexity of the Phenomenon of fluid flow in porous way causes a difficulty in its explicit description. Different in the cases where the flow is given through a pipe, where it is possible to measure the length and diameter of the pipe and to determine their ability to flow as a function of pressure, which is a complicated task in porous way. However, we try to approach clearly the equations used to conjecture the behavior of fluid flow in porous way. We made use of the Gambit to create a fractal geometry with the fluent we give the contour´s conditions we would want to analyze the data. The triangular mesh was created; it makes interactions with the discs of different rays, as barriers putted in the geometry. This work presents the results of a simulation with a flow of viscous fluids (oilliquid). The oil flows in a porous way constructed in 2D. The behavior evaluation of the fluid flow inside the porous way was realized with graphics, images and numerical results used for different datas analysis. The study was aimed in relation at the behavior of permeability (k) for different fractal dimensions. Taking into account the preservation of porosity and increasing the fractal distribution of the discs. The results showed that k decreases when we increase the numbers of discs, although the porosity is the same for all generations of the first simulation, in other words, the permeability decreases when we increase the fractality. Well, there are strong turbulence in the flow each time we increase the number of discs and this hinders the passage of the same to the exit. These results permitted to put in evidence how the permeability (k) is affected in a porous way with obstacles distributed in a diversified form. We also note that k decreases when we increase the pressure variation (P) within geometry. So, in front of the results and the absence of bibliographic subsidies about other theories, the work realized here can possibly by considered the unpublished form to explain and reflect on how the permeability is changed when increasing the fractal dimension in a porous way

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