A direct control system synthesis method for end effector arm under incomplete meaurements

Direct synthesis procedures for stand-alone control of end effector arm's position are offered. A method of prelimit control hierarchy is developed ensuring the desirable tracking accuracy under the uncertainty of control object's operator and uncontrolled external disturbances. The dataware problem is solved by choosing zero-overshoot response-based state observer that allows to get the estimates of non-measurable variables and existing uncertainties in theoretically finite time.