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  • Метод использования памяти микроконтроллера при реализации нелинейных регуляторов, с коэффициентами, зависящими от состояния

Article

Метод использования памяти микроконтроллера при реализации нелинейных регуляторов, с коэффициентами, зависящими от состояния

This article addresses the control task for nonlinear system that can be presented as nonlinear differential system with linear structure and parameters depending on object state. Usage of quadratic cost function allows developing control with coefficients that include solution of Riccati equation in real time. The rather common way is to solve Riccati equation at rate of object functioning which requires high performance controller what is not appropriative in some applications. The method, represented in this article, is useful when system state space is compact and performance or weight of control hardware is critical. It is offered to calculate regulator coefficients in advance and to keep them in memory of the control device. Calculation of coefficients quantity and memory size depending on accuracy of calculations is provided. The mathematical simulation of aircraft controlled by such regulator was made for verification.