Abstract
The disturbance compensation algorithm for control of multi-input multi-output (MIMO) plant is proposed. The plant is described by the linear differential equation with unknown parameters and external bounded disturbances. The algorithm ensures the small difference between plant output and reference signal under the saturation of control signal. It is shown that the algorithm can be applied for plant with unknown dynamical order. The simulations illustrate the efficiency and robustness of the designed control system.
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