Realization of Astatic Control Systems with Respect to External Disturbances

The paper is devoted to the problem of construction of systems of automatic motion control, which is one of the main problems considered in the scientific publications. The most important requirement for such systems is astaticism on regulated coordinates, i.e. the ability of the system to provide zero static error under the constant external disturbances. The known analytical and numerical methods of construction of automatic motion control systems generally aim to improve local dynamic characteristics of control processes, while the practical application of these systems requires a multi-purpose orientation of used approaches. The aim of the paper is the development of methods to provide the astaticism using the multi-purpose structure control laws. An example of modeling control system for the marine vessel is performed. Particularly, in the paper much prominence is given to the complex of questions, associated with computer synthesis and modeling of control laws, that provide the astaticism of the closed-loop system on yaw.