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Designing the Discrete Suboptimal Controller of the Continuous-time Object in Nonregular Bounded Noise
      
The paper was concluded by an example of the suboptimal controller for the nonminimal-phase object with control instability of the second order.
      
The structure of the optimal robust controller transfer function is investigated and its order is determined explicitly.
      
Consideration was given to control of the linear systems using the precompensator and controller.
      
The generally nonformalizable dependence of the structure of controller class on the choice of the precompensator was shown to be the basic distinction of the nonregular laws.
      
Design of a Modified Controller in the State Space
      
A controller of an object that is designed in the space of states generally consists of two blocks: an observer and a block implementing a control law.
      
The combination of the two blocks to form a unified block (modified controller) permits reducing the computational and the algorithmic complexity of processing the measurable information.
      
Optimality criteria with small parameters are set up, which offer the possibility of designing a modified controller, leaving out the procedure of design of an observer.
      
Its minimization leads to a linear programming problem in the controller coefficients.
      
Importantly, a low-order controller can be designed in this manner.
      
Solution was based on the Krasovskii self-organizing optimal controller with extrapolation.
      
The self-organizing optimal controller with extrapolation enables one to adapt solutions of the mathematical models to physical plants.
      
A fractal (structurally iterative) controller with the number of iterations defined by the desired stabilization precision was proposed to solve the problem of design.
      
The control system is simple in implementation and the dimension of the controller is one less than the degree of the object.
      
The robust controller parameters are determined from the Sylvester interval equation.
      
For the multivariable system, design of the working linear control law with controller and precompensator was considered.
      
A simple-structure controller is such that no element can be eliminated from its description without violating the conditions defining the quality requirements of the designed system.
      
Its bounds are determined and a computation procedure is designed to estimate the minimal external perturbation suppression level that can be attained in an uncertain system with unknown bounded parameters by a dynamic output controller.
      
In robust system analysis and robust controller design, the parameters of the nominal system and admissible perturbation classes are usually assumed to be known.
      
 

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