Synthesis of Control Laws by Nonlinear Non-stationary Objects

A method is proposed for synthesizing adaptive systems with a combined control law for the state vector for the nonlinear and non-stationary astatic objects with functional uncertainty on the state in the direct circuit and in the chain of their own feedbacks, as well as nonzero initial values of state variables. Moreover, the control objects of the synthesized systems can have an unstable equilibrium state, and their exit matrix can have right eigenvalues. The algorithm for the structural synthesis of the proposed method is based on defining the required equation of motion of the system and solving the inverse problem of dynamics. In this case, an observer of state variables is used in the system, a proportional controller in its direct circuit as a multiplication unit, and a self-tuning loop with a controller gain controller, the value of which changes inversely proportional to the current value of the control object's gain. The parametric synthesis algorithm is reduced to solving the problem on the conditional minimum of the integral control error when the characteristic frequency polynomial is limited to an algorithmically linearized system.