Robust stabilization of the multilinked object

Abstract

We consider the problem of robust control for a multilink object in the presence of the signal and parametrical uncertainty when the measurement of the derivatives of input and output signals of the local subsystems is not available. Proposed and justified the use of auxiliary circuits for each of the subsystems that eliminates the use of the vector of regression during the generate of the control signal, where by the reduced order closed-loop control system. The advantage of the proposed robust control law is that it remain unchanged when exposed to unknown disturbances, and in their absence. In the first case, the system is dissipative, while in the second case, it one is asymptotically stable.