Practical Aspects of Dynamic Controller Realization

The influence of the analog noises, ADC/DAC discretization, and inaccuracy of the plant's model on transient performances of the discrete dynamic controller, which includes modal controller and observer, is examined in this work. The computational experiments with the object of control of the fourth-order showed that when the inexact plant's model received from the experimental data is used, even a low level of analog noise provokes an unacceptable level of the oscillation of the output variable value. To solve this problem, the use of an integrator in the feedback of the controller instead of state variable values correction is suggested. The integrating link removes the oscillations and residual error in the plant's output. To solve the problem of non-zero initial conditions, two methods of state variable values restoration are suggested. The computational experiments with such an improved dynamic controller showed a satisfactory quality of transient performances. The program realized this dynamic controller was written in the Python program language and may be used at the microcontrollers.