Formation of astatic control systems of objects with uncertain parameters on the basis of a modal-invariant subsystem

Information and measuring and control systems


Eliseev V. D., Evdokimchik E. A.1*, Kotel'nikova A. V.2, Chemodanov V. B.3

1. Russian Aircraft Corporation «MiG», 7, 1st Botkinsky passage, Moscow, 125284, Russia
2. Moscow Aviation Institute (National Research University), 4, Volokolamskoe shosse, Moscow, А-80, GSP-3, 125993, Russia
3. ,



The object of article is the method of formation astatic control systems of dynamic objects with uncertain parameters on the basis of robust modal-invariant systems.

The methods of formation static control systems for dynamic objects with uncertain parameters on the basis of the theory of modal-invariant systems are well known. The established value of controlled coordinate in the presence of parametrical errors and action of constant disturbances of object in such systems is a variable. There is a problem of formation of astatic system on the basis of a modal-invariant subsystem with integrating property. Thus there is no necessity for traditional addition of an integral link. It allows not to increase an order of system and represents practical interest especially at a hand control.

Integrating properties of system are reached at the expense of maintenance of a zero root in the characteristic equation of a subsystem by known methods of modal control. After closing of system by feedback on the controlled coordinate we create astatic system.

The offered method of formation of linear astatic system with preliminary formation of structure and parameters of a modal-invariant subsystem with integrating property provide astatism on control and disturbing influences, and also the lowered sensitivity to uncertainty of parameters of control object.

The example of synthesis of astatic system is given and the possibility of reduction of its sensitivity to uncertainty of object parameters is shown.


astatic control, modal-invariant systems


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  3. Eliseev V.D., Komarov A.K. Mnogomernye modal’no-invariantnye sistemy upravleniya (The Multidimensional Modal-invariant Control Systems), Moscow, MAI, 1989, 32 p.

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  5. Tuktarev N. A., Grishin D. V., Busurin V. I., Akhmedova S. K. Trudy MAI, 2016, no. 88:

  6. Kotel’nikova A.V., Chemodanov V.B., Eliseev V.D., Kisin E.N., Evdokimchik E.A., Pokhvalenskii V.L. Patent 2570127 RF MKI G05B 11/01.

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