Invariance in systems with unmatched perturbations

For the problem of providing invariance in outputs of the system with external perturbations not belonging to the control space, a solution was proposed based on the effect of vibrolinearization of the relay elements. The developed relay vortex algorithms of control were used in the closed-loop system for generation of damping oscillating modes with unlimited growth in oscillation frequency which enabled relay vibrolinearization. At that, realized was the theoretically infinite coefficient of linearization enabling asymptotic invariance of the output to a wide class of external perturbations.