This article considers an algorithm for the synthesis of dynamic output controller, where the eigenvalues of a closed control system should be located in a given region (D-region) of the complex plane. The main direction of the research is to synthesize dynamic controllers of minimal order when there is no complete controllability at the output. For this purpose, a brief excursion into the external Grassmann algebra is made with the purpose of determining the external product of vectors, on the basis of which the operation of the bialternate product of matrices is explained. The use of the bialternate product of matrices made it possible to introduce the functions of matrix root-clustering of complex eigenvalues located in separate transformable D-regions. For the usual product of matrices, the functions of matrix root-clustering of real eigenvalues located in separate transformable D-domains are introduced. The functions of matrix root-clustering are transforming, respectively, complex or real points of a given bounded or unbounded D-region of the complex plane into a left half-plane. The article considers the main D-domains most widely used in practice (disk, cone, stability margin), presents their matrix root-clustering and functions of matrix root-clustering of real and complex modes. An algorithm for parametric optimization of dynamic output feedback controller over D-domains has been developed. Practical examples of synthesis are considered. For a fourth-order object (a two-mass weakly damped system with two integrators and parametric uncertainty), a secondorder dynamic controller providing robust quality has been synthesized.

In automatic control systems (ASR), industrial processes of various types with a delay with a limit on the amount of overregulation, a PID controller with a real differentiating link (hereinafter referred to as the PID controller) is widely used. As is known, a sign of the presence of a large delay in the object of regulation is the ratio τ_ob/T_ob ≥ 1, where τ_ob is the value of the delay time and T_ob is maximum time constant of the object of control. In the presence of a large delay and limitation in the ASR, the parametric synthesis of the PID controller by well-known frequency methods becomes difficult, which leads to interest in the development of numerical searchless algorithms for parametric optimization based on the use of sensitivity functions to determine the gradient of the optimality criterion. In this paper, an APO algorithm is formed that calculates, based on the minimum of the integral quadratic criterion, the values of the adjustable parameters of the PID controller in the specified ASR. In order to ensure that there is no re-regulation of the resulting transient process, the authors of this article propose to introduce a restriction on the regulatory effect into the automatic system at the optimization stage, which, in turn, is taken into account by adding a penalty function to the integral criterion. The proposed algorithm is based on the method of conjugate Polak—Polyak-Ribier gradients with its known advantages. The components of the gradient vector of the optimization criterion are calculated using such sensitivity functions that allow you to obtain all the components of this vector without trial search variations of the configurable parameters. To calculate the value of the optimization step, the authors implemented an appropriate algorithm based on a gradient procedure using the sensitivity function of the output coordinate of the ASR to the step value. The convergence of the generated APO algorithm was verified using a numerical procedure based on the zone of attraction of record values of the optimization criterion, which is determined by a positive-definite Hesse matrix of the integral quadratic criterion based on the difference between the averaged and the tested transients.

The creation of technology for the analysis of wattmeter charts to control the main equipment of oil fields has always been of both theoretical and great practical interest. Numerous experiments have shown that the wattmeter chart of their electric motor is a highly noisy signal, and a significant part of the diagnostic information is contained in the estimates of the noise variance and the cross-correlation function between the noise and the useful signal. The lack of technologies for their analysis made it difficult and still makes it difficult to use the wattmeter chart to control the indicated equipment. The paper proposes a technology for controlling the onset of malfunctions and early diagnostics of the technical condition of sucker rod pumping units (SRPU), electric submersible pumps (ESPs), modular cluster pump stations (MCPS) of oil fields. It is shown that during operation, the wattmeter chart of the electric motors of these objects reflects information about the beginning of the latent period of change in their technical condition, which can be used as informative attributes in their diagnosis. A technology is proposed for determining the estimate of the cross-correlation function RXε(μ) between the useful signal X(iΔt) and the noise ε(iΔt) of the wattmeter chart and the technology for generating a set of reference wattmeter charts, in which the obtained informative attributes coincide with the informative attributes of the wattmeter charts of typical malfunctions. It is proposed to solve the problem of identifying faults in the equipment under consideration by the informative attributes of current and reference wattmeter charts of electric motors using correlation extremal systems. It is shown that using the proposed technology it is also possible to control the onset of similar malfunctions of SRPU by analyzing the dynamometer chart. The results of experiments showing the effectiveness and expediency of creating these control systems based on CES are presented.

Robots are increasingly required to work in close cooperation with humans and other robots, performing common tasks jointly, in collaboration. High-level decision making by an autonomous agent with such interactions require specific means of responding to the situation. This paper describes the implementation of the control system for a collaborative robot, based on the emotion-need architecture that provides reliable and interpretable interaction means of the robot with other agents. The robot is an autonomous device whose behavior is aimed at satisfying its current needs. The communication between the operator and the robot is based on signal communication: the operator’s signal ("command") activates an element of the emotion-need scheme — a gateway that implements the emotional feedback. Since the gateway connects the sensors and behavioral procedures, its activation starts the corresponding procedure, as if the sensory system had registered a real stimulus. The external signal of such indirect control can be represented in acoustic form or as the operator’s posture. The needs of the robot are aimed at both its physical survival (danger avoidance) and maintenance of the social connections (accompanying friendly agents). The robot recognizes external commands and activates the gateway associated with the highest priority action. The activity also gradually fades, which allows actions to be performed for some time even in the absence of an appropriate internal stimulus. The resulting robot is able to perform the simplest patrol tasks together with a human, acting in a predictable and understandable (interpretable) way for the human.

The nonlinear control system of the aircraft propulsion system at take-off with the derated thrust at a running start stage on the runway (R) is considered. The mathematical model of rise of an object taking into account the different perturbing influences, such as starting mass, status of a surface of the runway, wind perturbation, real value of the engine’s thrust is analyzed. The settlement trajectory of running start based on of a priori the set model parameters of an object and the environment is defined. For the solution of a task of thrust control, at a deviation of model parameters of an object and the environment from rated values, the nonlinear control law draft is under construction. In work, the scheme of synthesis of a thrust control system, which is implemented based on a method of linearization of nonlinear model by feedback on an output, is offered. This method comes down to creation of nonlinear differentiable conversion of initial coordinates. With use of an assumptions the robust nonlinear control law providing forming a controlt signal with engine’s thrust for deviation compensation between rated and real running start trajectories in the absence of complete a priori information about take-off parameters was constructed. Conditions of respect for technical stability of running start of the aircraft, taking into account restrictions on the maximum value of draft of the propulsion system and the maximum length of running start on the runway were investigated. And the criterion of the emergency termination of take-off of the aircraft, when resources of the propulsion system do not allow to compensate the having mismatch between settlement and real trajectories of running start is offered. The received criterion allows to form a signal for take-off stopping and passing to the mode of the emergency termination of running start on the runway.