FIELD: robotics; control of underwater robot propulsor. SUBSTANCE: device is provided with additional self-tuning circuit for stabilization of dynamic properties of propulsor at any change of its parameters within preset limits. It is good practice to introduce ninth, tenth, eleventh adders, integrator, second relay element, eighth and ninth multiplier unit, third and fourth module taking unit for forming correcting signals. EFFECT: enhanced efficiency. 1 dwg
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