Abstract. Combined control in a digital tracking system is considered for the first order astatism and time delay in the direct circuit, which allows to fully compensate for both the speed and acceleration errors. A method for calculating the digital tracking system with a delay is proposed, which excludes an increase in transients oscillation when working out jumps of the driving force caused by compensation of the velocity error. The transfer function of the coupling by the setting effect is determined, compensating for the velocity error and the acceleration error. Impossibility to reduce overshoot by reducing the gain in the direct circuit when compensating for both errors is established, and the causes of this phenomenon are clarified.

Keywords: combined control, digital tracking system, time delay

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