FIELD: electrical engineering. SUBSTANCE: for increase of accuracy and speed of response main controlling action is formed in accord with complete vector of state of model of driving channel which takes into account action of disturbances and involving electric motor drive and nth part of total mass, where n is number of electric motors. Then comparison in pairs of all coordinates of driven channels with corresponding coordinates of model is conducted and by results of it additional controlling action on driven electric motor drives is formed with rate higher than that of main controlling action considering driven channels independent. EFFECT: increased accuracy and speed of response. 2 dwg
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