Design of a Two-Channel Control System with Second-Order Astatism

Many robotic systems, as well as industrial installations, transport facilities, research benches, require simultaneous control of two or more parameters. In this case, it is necessary to design multi-channel control systems called MIMO systems, which means many inputs and many outputs. In the literature, there are very few publications on methods for designing such systems in the case when the object model is described by a matrix transfer function containing elements in each position in the form of a second or higher order filter and a delay link. There are no analytical methods for solving such a problem; therefore, such problems are solved by methods of numerical optimization. An additional complication of the problem arises when it is required to provide a high order of astatism, for example, the second order. This paper solves such a problem, describes special methods and techniques to obtain an effective result.