SYNTHESIS OF A MULTIFUNCTIONAL TRACKING SYSTEM
FOR ELECTROMECHANICAL CONTROL PLANTS
A class of affine nonlinear SISO systems with relative order of the equivalent input-output form independent from external unmatched disturbances is formalized. For this class of systems, the methods for the synthesis of a multifunctional tracking system under the conditions of parametric uncertainty of the control plant and incomplete measurements have been developed. For information support of discontinuous control, an original method of reduced observer synthesis has been developed. The observer evaluates mixed variables (combinations of state variables, external disturbances and their derivatives) according to measurements the tracking error only. The simulation results of the designed algorithms for an inverted pendulum under conditions of uncertainty are given.