Combined Nonlinear Control System for Non-Affine Multi-Loop Plant with Control and State Delays

The paper considers the synthesis of a combined nonlinear controller of the control multiply-connected system for an input-non-affine plant with delay at the input signal and state. Dynamics of the plant changes in stages. The plant under consideration operates in conditions of a parametric, functional and structural uncertainties, in the presence of a permanent external noise and measurement only the controlled variable (output signal). The structure of a multiply connected control system includes an implicit reference model, predictor-compensator and correction filters. The authors use the hyperstability criterion and method for constructing L-dissipative dynamic systems to synthesize the nonlinear algorithms for combined control system. The structural synthesis is performed by defining the special estimates which guarantee the validity of the V.M. Popov's integral inequality. Operability of the developed hyperstable control system with structural perturbation is ensured with the help of the special L-dissipativity conditions. At the final section of the article with the help of simulation the authors show the quality of the obtained nonlinear control system. The results of the system simulation show the fulfillment of the control goal with a sufficiently high quality. The obtained results may be useful for construction the control systems for technical plants which dynamics can be described as non-affine MIMO-system. For example, the robot-manipulators and some plants of heat power engineering has the mathematical description like multi-connected systems.