STRUCTURAL-PARAMETRIC ANALYSIS AND SYNTHESIS OF CONTROL SYSTEMS WITH TWO DEGREES OF FREEDOM

Automatic tuning of the parameters of PID - regulators is proposed by means of a modified experiment that takes into account the influence of elements and circuits in the form of additive uncertainty. The use of a multiply connected control scheme with two degrees of freedom for decoupling is proposed in order to facilitate the implementation of a mechanism for combating the phenomenon of integral saturation. Equations are derived for the transition from a circuit with one degree of freedom to a circuit with two degrees of freedom for the general and special cases of a two-dimensional system, which makes it possible to apply well-known methods of tuning PID controllers with a decoupling matrix in such a way as to take into account the residual influence between the circuits when switching to a circuit with two degrees of freedom