The pseudo adaptive algorithm of control over a dynamic plant with limited uncertainty

A pseudo adaptive algorithm has been developed, which is similar to an nonlinear one, to control a dynamic plant with interval parametric uncertainty. The algorithm ensures the controlled dissipative stability of control processes with ultimate convergence speed and robustness in terms of unmodeled perturbations. A simulation research with MatLab/Simulink software of two-link rigid manipulator dynamics has revealed constantly stable aperiodic dynamics under significant parametric deviations of the dynamic plant. Simulation results show high degree of suppression of manipulator drives' cross-coupling effect. Design, implementation and adjustment of these algorithms does not require significant effort for putting them into operation. © Research India Publications.