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CONTROL OF TECHNICAL SYSTEMS WITH DELAY USING STANDARD REGULATORS WITH DISTURBANCE COMPENSATION

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For an object with delay, a new structural schematic of system of robust control with compensation of slowly changing perturbation at the object output is proposed. The object transfer functions are supposed to be stable or related to the boundary of aperiodic stability. To ensure the system robustness, predictor in the control loop is replaced by a nominal servo system in which a signal for disturbance compensation is generated. The proposed approach is reported to allow for realization of a rough system in relation to the uncertainty in the delay magnitude and parametric uncertainty of the transfer function. Construction of robust regulators in the traditional class of control laws is analyzed. The necessity of roughness of the main control loop is demonstrated.

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