Robust suboptimal control of linear objects with a reference model

The problem of suboptimal tracking for a reference signal parametrically and functionally by an uncertain linear object is solved in the paper. It is supposed that only scalar input and output of the object can be measured. The purpose of control is to sub-minimize the integral with an infinite top limit from square-law function dependent on a tracking error and a control signal. The received algorithm is simple and does not require difficult analytical calculations of parameters of a control system. The serviceability of the received algorithms is illustrated on numerical examples.