Approximate compensation of "stable" poles of the transfer function of the continuous part of calculated electromechanical digital tracking system

Calculation of a digital tracking system (DTS) with the use of approximate compensation of the poles of the system continuous part (CP) lying in the stability region by the filter zeros of the its discrete part is considered. Unlimited increase in the compensation accuracy with decreasing sampling period theoretically allows making the linearized DTS model invariant with compensation of only the speed error. The simulation model of the DTS constructed in the MatLab Simulink system allows reducing its calculation to the selection of the CP conversion coefficient, sampling period, and parameter of the astatic discrete low-pass filter in the feedforward circuit based on the differences in the reference action.