Parrying Perturbations in the Systems with Complementary Control

The paper consideres complementary control for parrying external and internal perturbations of the system. The directions of parrying perturbations in automatic control systems (ACS) are marked. The basics of complementary control are displayed as the modified fourth form of invariance and its application for task solution. Two cases in the basis of the fourth form of invariance are distinguished. The first is for parrying external perturbations, the second is for parrying internal perturbations. Expressions for obtaining additional components in the control action are defined. The implementation of additional control is possible in the form of an autonomous component and by correcting the control action at the stage of its formation. A block diagram of ACS with complementary and predictive control is proposed, and its features are pointed out. The implementation of the adaptation loop, which forms an additional component in the control action, is possible at the program level and on the basis of a neural network. The results of practical implementation of ACS with complementary control and neural controller are given.