Authors:
Sergey Gayvoronskiy
;
Tatiana Ezangina
and
Ivan Khozhaev
Affiliation:
National Research Tomsk Polytechnic University, Russian Federation
Keyword(s):
Acceptable Stability Degree, Synthesizing a Controller, Root Quality Indexes, Aperiodic Transient Process, Interval Characteristic Polynomial, Interval Control System, Autonomous Underwater Vehicle.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Robotics and Automation
Abstract:
The paper is dedicated to deriving sufficient conditions, connecting root quality indexes of the control system
with interval coefficients of its characteristic polynomial, on the base of interval expansion of the coefficient
method. With the help of these conditions, a method of synthesizing a controller, providing an aperiodic
transient process and acceptable stability degree, was developed. The method is applied to a problem of
synthesizing a controller of an autonomous underwater vehicle submerging control system with interval
parameters.