К ОЦЕНКЕ ОБЛАСТИ ПРИТЯЖЕНИЯ ПОЛОЖЕНИЯ РАВНОВЕСИЯ НЕЛИНЕЙНЫХ СИСТЕМ УПРАВЛЕНИЯ

Abstract

Designing nonlinear control systems is still difficult, so many researchers are trying to findsome useful ways and methods to solve this problem. As a result of such research, some methodshave been seen trying to design a good enough control system for nonlinear plants. But a disadvantageof these methods is the complexity, so it created a need to compare some methods to determinewhich one is the easiest method to design a control system for nonlinear plants. It wasfound a way to compare two methods, which is comparing the regions of initial conditions of thesystems which are designed using these methods. Two analytical nonlinear control systems designmethods are compared on the example of the design control systems mobile robots. The algebraicpolynomial-matrix method uses a quasilinear model, and the feedback linearization method usesparticular feedback. Both considered methods give a bounded domain of equilibrium attraction,therefore the obtained control systems can be operated only with bounded initial conditions. Thenumerical example of designing the control systems for one object by these methods and the estimatesof the attraction areas of the system’s equilibriums in these systems are given in the paper.As a result of this paper, it was found that using the algebraic polynomial-matrix method will get abigger section of initial conditions of the plant’s variable than the same section which is given bythe feedback linearization method.