Adaptive Robust Control of a Multi-Degree Electromechanical Object with Elastic Properties

In this paper the problem of control of a multi-degree-of-freedom nonlinear electromechanical plant with resilient properties and an external unknown disturbance is considered. An unknown disturbance is represented as the output of a linear autonomous model with unknown constant parameters. To solve the problem of adaptive compensation of disturbances, an adaptive observer of external disturbances is applied. An algorithm is proposed for nonlinear robust control of an electromechanical plant, synthesized on the basis of the adaptive bypass method of the integrator and combined with the estimate of the adaptive disturbance observer. Simulation of the designed nonlinear robust control with an adaptive disturbance observer is performed using the MATLAB/Simulink software.