ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)

vol 66 / November, 2023

DOI 10.17586/0021-3454-2016-59-7-517-523

UDC 681.51


A. A. Margun
ITMO University, Saint Petersburg, 197101, Russian Federation; Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences, Saint Petersburg, 199178, Russian Federation; Associate professor; Scientific Researcher

I. B. Furtat
Institute of Problems of Mechanical Engineering, Russian Academy of Sciences, Saint Petersburg, 199178, Russian Federation; ITMO University, Saint Petersburg, 197101, Russian Federation; Leading scientific researcher professor

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Abstract. An adaptive algorithm of control over linear system with parametric uncertainties under external disturbances and output measurements with dynamic quantizer is presented. The output characteristic of the dynamic quantizer is supposed to be close to the characteristic of static quantizer. Coefficients of the used control model of the object are assumed to belong to a bounded set, and the transfer function numerator is Hurwitz polynomial. The control algorithm is synthesized on the base of the consecutive compensator method proposed by A. A. Bobtsov. The proposed heuristic algorithm for adjustment of integral-type controller parameters and quantization step is based on the use of Kharitonov polynomials. The developed control system provides convergence of tracking error to the bounded region. The efficiency of the proposed method is confirmed by results of computer simulation for an object under the control of the third order with relative degree equal to three. 
Keywords: adaptive control, quantization, disturbances, consecutive compensator, uncertain systems

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