Self-Organizing Switched Hyperstable Combined Control System for Nonlinear Plant under Uncertainty Conditions

Article deals with the consideration of a self-organizing tracking system synthesis for one class of nonlinear dynamic plants operates under constant external disturbances. The control plant consists of several subsystems that are generally unstable and have different relative degrees. The switching between these subsystems occurs at arbitrary points in time according to a given signal, while both the parameters and the structure of the object are subject to parametric and structural uncertainties. Additionally, the mathematical model of the object includes a nonlinear dependence on phase coordinates, which is typical of systems with unmodeled dynamics. The following solution methods are used: cybernetic approach to the development of self-organizing systems, associated with the formation of a strictly minimal phase system using high-speed correction filters; hyperstability criterion, which allows the synthesis a nonlinear combined (adaptive-robust), control law; approach to constructing L-dissipative dynamic systems under the influence of structural disturbances. In the final part of the article, we consider the control problem for plant with switches consisting of two subsystems of the third order. We note that through the specially designed high-speed correction filters and automatic structural self-organization of the regulator, we can achieve targeted improvement in the control system quality. The results obtained can be used to develop highperformance self-organizing control systems for complex dynamic plants. These systems can effectively operate in conditions of changing structure and parameters, as well as when there are disturbances and switching. Additionally, the results are useful for developing control systems for other types of switched plants.

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