NON-LINEAR PI AND PID REGULATORS IN MECHANICAL SYSTEM CONTROL

Aleksandr Andreev, Olga Peregudova

In the paper the problem of program positions stabilization for holonomic mechanical systems through integral and proportional-differential regulators is reduced to the study of the stability problem of the integro-differential equations of Volterra type. The paper presents the development of the Lyapunov functional method to solution of this problem. This allows to justify an expansion of the class of PI and PID regulators in solving the problem of program positions stabilization for
controlled holonomic mechanical systems.

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