METHOD OF AUTOMATIC CONTROL IN NONLINEAR SYSTEM AND SERVO SYSTEM TO THIS END Russian patent published in 2012 - IPC G05B13/00 

FIELD: process engineering.

SUBSTANCE: invention relates to automatic control systems to be used in robotics, servo systems, etc. Proposed servo system comprises power drive, drive coordinate transducers, metre of task error signal and signal of signal main feedback, and nonlinear devices of feedback signals for every coordinate of the drive. The latter devices are made up of adder with two branches connected in parallel. One branch represents serial connection of nonlinear link with limitation zone and first amplifier while another branch is made up of second amplifier. Output of adder of every said nonlinear device is connected with input of said nonlinear link with limitation zone. Besides, servo system comprises metres of errors in second and higher coordinates of the drive with their negative inputs connected with transducers and their positive inputs connected with outputs of feedback nonlinear device outputs of previous drive coordinate.

EFFECT: faster operation.

2 cl, 6 dwg