Synthesis of discrete multichannel astatic systems by modal a method
A discrete algorithm of multichannel object control is considered. This algorithm is based on the matrix procedure of the modal method synthesis. The control object is required to be controllable and observable. The regulator consists of static corrector and dynamic corrector in its structure. The digital integrator is added in each control channel to provide property of astaticism. This addition increases an order of the full system. The developed control procedure provides desirable dynamics of own system processes, and the reference value reproduction error in all control channels in static state is equal to zero. The investigated regulator requires use of object state vector in the control law. Object state vector is not completely immeasurable, therefore it can be estimated by means of various types of observers. The system dynamics is investigated with Ljuinberger observer of reduced order.