Control of the mechanical system oscillation with a drive under conditions of parametric uncertainty

A method for adaptive control of oscillations by cascade systems based on the energy approach and the method of highspeed big-gradient with an adjustable model is proposed. The control objectives are all trajectories limitation of a closed system and the excitation in the mechanical subsystem of oscillations with a given energy level, as well as the identification of unknown parameters for the mechanical subsystem. An example and results of computer simulation are given. Keywords high-speed big-gradient method; cascade system; adaptive management; Lyapunov function; speed gradient algorithm