Accuracy Improving of Two Degree of Freedom Nonlinear Robust Control by Electromechanical Servo Systems with Discrete Continuous Plant

The design of electromechanical servo system with elastic elements as discrete-continuous plant with uncertain plant parameters and with two degree of freedom nonlinear robust control is completed to improve the control accuracy and reduce the plant parameters changes sensitivity. The solution Hamilton-Jacobi-Isaacs equations are calculated for design of nonlinear robust controllers and nonlinear robust observers. For synthesized electromechanical servo system for various modes of the system operation with different input signals and for various values of the plant parameters the dynamic characteristics are calculated. The experimental verification of the dynamic characteristics is completed.