A design of quasi-optimal invariant control laws for non-stationary dynaic systems with unknown parameters and disturbances

The impulse sensitivity of non-stationary linear dynamic systems is investigated. The functions of sensitivity of the output variables derivatives to jumps of piecewise-constant control are obtained in terms of coefficients of the equations, describing systems in "input-output" variables. The matrices of impulse sensitivity are applied to a solution of the problem of design of ? -optimal controls ensuring a beforehand specific accuracy of tracking of desirable movements on any time interval if there are restrictions on output signals and their derivatives. Necessary and sufficient conditions of robustness and ? -optimality of offered invariant control laws in geometric and determinant forms are proved.