Block approach to analysis and design of the invariant nonlinear tracking systems

Consideration was given to the nonlinear multiple-input multiple-output systems under the action of unmatched exogenous perturbations. For the general systems where the conditions for bounded problem of autonomous control are not met, formalized were the organization principles and existence conditions for the affine block input-output form underlying the block design of the basic law of open-plus-closed-loop control providing invariance of the output variables with respect to the exogenous perturbations. The constructions are augmented by the derivatives of the exogenous and control actions, but in distinction from the existing approaches their generating dynamic models are not included. To realize the basic law of control, used is an observer of the mixed phase and exogenous variables based on a virtual system with respect to the tracking errors with closed local links. An original decomposition procedure to design correcting observer actions was presented as a linear saturation functions estimating the mixed variables with the desired precision.