Block Approach to Controlling a Twin Rotor Electromechanical System

The tracking problem for the twin rotor MIMO electromechanical system is considered in the conditions of parametric uncertainties and under action of uncontrolled external disturbances. According to the block approach, the two procedures with the different types of local feedbacks are developed for the solution of the problem: with the nonlinear and with the piecewise-linear functions in feedbacks. These functions provide invariance to disturbances and satisfaction of the restrictions on the state variables and control actions.