Nonlinear Control System for One Class of Input Non-Affine Multivariable Plants

In the article it is proposed the solution of synthesis of the decentralized control system for the input non-affine multi-input-multi-output (MIMO) stationary plants which operate in the periodic modes. With the help of V. M. Popov’s hyperstability criterion, a fast acting dynamic filter-corrector and a reference model with two outputs the authors present a developing procedure of the nonlinear-periodic control loop which is included in each local subsystem of the considered MIMO plant. At the stage of simulation the operation quality of the developed system is shown. The results obtained in the article may be used for construction of control systems for different technical MIMO plants, in particular, for robots-manipulators.