Robust Control of a Multi-Degree-of-Freedom Electromechanical Plant with Adaptive Disturbance Compensation

This paper considers the problem of control of a multi-degree-of-freedom (multi-DOF) nonlinear electromechanical plant with elastic properties and an external unknown disturbance. The unknown disturbance is assumed to be deterministic and is represented as an output of a linear autonomous model with unknown constant parameters. To solve the problem of adaptive disturbance compensation, an adaptive observer of an unknown deterministic disturbance is applied. A nonlinear robust control of a multi-DOF elastic electromechanical plant, synthesized on the basis of the integrator backstepping method and combined with adaptive robust disturbance compensation, is also being developed. The simulation of the designed nonlinear control of a multi-DOF plant with adaptive robust compensation of disturbances is performed using the MATLAB / Simulink software.