Design of hierarchical control systems for mechanical and electromechanical processes by decomposition. II

The decomposition principle is found to be useful in design of control systems for mechanical and electromechanical processes whose motion is described by Lagrangean equations of the second kind. A method is proposed for design of general-purpose twolevel control systems. The lower level subsystem makes the process move in the decomposition (full compensation of dynamic mutual impact) mode and the higher level subsystem coordinates the motion of elements towards the control objective. When the operating mode (or the control objective) changes, the system structure, parameters, algorithms, and software for the computer in the upper level are left intact.