METHOD CREATING ASTATIC SYSTEMS FOR CONTROLLING OBJECTS WITH UNCERTAIN PARAMETERS BASED ON BUILT-IN MODELS AND MODAL INVARIANCE Russian patent published in 2015 - IPC G05B11/01 

FIELD: physics.

SUBSTANCE: method includes forming, using a built-in reference model of the movement of an object, a modal-invariant subsystem having an integrating property (with an invariant zero root of the characteristic polynomial thereof); generating an input drive signal for the formed subsystem in the form of an amplified difference between given and measured controlled coordinates of the object, which provides closed system astatism. The example of automatic control of a second-order object demonstrates obtaining astatism on control and perturbation action, as well as reduction in sensitivity of the formed system to the uncertainty of parameters of the object.

EFFECT: reducing sensitivity of the astatic system to the uncertainty of parameters of the object.

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