Synthesizing Robust Control Systems for Mechatronic Objects with Digital State Controllers and Observers

We propose a method of synthesizing robust digital modal control systems with state observers based on generating dynamic system characteristics within the areas of parametric robustness. Further, low sensitivity of the system to the changes in controlled object parameters is ensured by the minimal phase character of the complex controller's transfer function, while low sensitivity to changing parameters of the controller itself is ensured by excluding positive feedback in both control and adjustment circuits.