The analysis of the processes in remote control digital system with adaptive techniques of anti-interference on basis of the interval model representations, страница 3

;                                                                                                                         (12)

                                                                                (13)

;                                                                                                                  (14)

where ,  – state, control and output vectors in direct and back channels of single length accordingly; , ,  where

7. Form aggregative discrete control object (ADOU), consisting of consequent joining of direct channel, discrete control object (DOU) and back channel with state vector of length n_a=n_ОУ+2, regulated output vector of digital remote control technical object, measuring output vector , constituting OKS output and matrixes

 ; ,                      (15)

where

;                                                                                                 (16)

;  ;  ;                                                               (17)

                                                                     (18)

8. Form the a priori estimation tп of duration of transient process tп for remote digital control system with regulator without watcher in the form t_п=() n_a  and for regulator with watcher in the form t_пн=2() n_a  

9. Check performing of the condition ≤ t_пт, where t_пт - required according objective duration of transient process, herewith in case of inequation execution - a transition to p.10 of algorithm, in case of non-execution realization of following actions:

9.1. transition to p.1 for co-ordination of the objective and for lowering the requirements to value tпт with the following transition to p.9;

9.2. transition to p.2 for changing TM-protocol on TMP with higher transfer rate, with the following transition to p.10;

9.3. if condition t_пт≤ t_п  is executed for remote digital control system with regulator without watcher, to make the transition to realization of discrete watcher with discrete interval Δt_н, so that the observation process would be conducted during one bit of “channel time”.

10. Form control law in form of combinations of state feedback  with matrix  and master control feedforward g(k) with matrix

                                                                                                       (19)

using the modal control method.

11. To form the matrixes and  choose continuous polynomial dynamic modal model, assigning observing pair of matrixes ,

12. Design modal model discrete version with pair of matrixes  where matrix  is computed with the help of correlation , and matrix  is computed on basis of pair of  Sylvester matrix equations for continuous and discrete cases:

                                                                                           (20)

with respect to matrix .

                                                                                              (21)

under the known matrix  with respect to matrix .

13. Form master control feedforward  matrix  on the assumption of its full measurability because of condition of equality of control output and master control in standstill basing on correlations

                             (22)

                                                                                                                                  (23)

                                                                             (24)

14. Build remote control digital law on the assumption of nonmeasurability of master control  in form

                                         (25)

using error signal  on output.

In formula (25) matrixes satisfy correlations

                                                                                                                (26)