FIELD: adaptive systems for automatic control of objects with unknown mathematical description and with arbitrary disturbance action while having in task of control system non-linear limitations (in the form of equalities and inequalities) for controlled variables, control responses and transition paths of control object to target state.
SUBSTANCE: system unit for generating task includes calculator of outlet signals of metering devices and control response generator and it is provided with non-linear converters with sigmoidal static characteristics providing satisfaction (with the aid of control system) of said limitations in the form of inequalities. Calculator of metering device system includes connected in parallel proportional, integrating and differentiating units. Control response generator and variable state supervisor are in the form of multidimensional self-adjusting PID-controllers realizing algorithms of modified Kalman filters.
EFFECT: realization in system error asymptotically approaching to zero.
1 dwg
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