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ROBUST AUTONOMOUS CONTROL OF A MULTIPLY CONNECTED LINEAR OBJECT WITH ENTRY DELAYS

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A new technique is proposed for compensation for cross-links of a multiply connected control object with delays in direct and cross links. Application of the technique allows one to obtain a physically realizable compensator structure for any correlation between the values of delays in direct and reciprocal relationships and for any transfer functions of inertial elements, and also ensures the robustness of the system to the parametric uncertainty of the object and the values of delay.

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