Synthesis of modal controller with compensation of external disturbance for object with parametric uncertainty on the criterion of maximum robustness

This paper proposes a method of constructing modal regulator by transfer function for closed-loop system in case of presence of setting and disturbance influence. The method is simple and allows to express the coefficients of the transfer function of the regulator in terms of coefficients of the wishful polynomial closed-loop system. Using this feature is presented an optimization algorithm of these coefficients on the criterion of maximum robustness.