Оптимальне керування нелінійною динамічною системою

The work describes the method of obtaining the control law of a nonlinear dynamic system by linearizing this system around the equilibrium point. The stages of development of optimal control of a nonlinear dynamic system using the example of a Cook converter using the MathLab package are outlined: obtaining a mathematical model of the converter; obtaining parameters of the equilibrium point of a nonlinear system using a proportional-integral-differential (PID) regulator; lineari-zation of the mathematical model around the equilibrium point; solving the quadratic controller problem and obtaining the tracking control law for the linearized model; control of a nonlinear dynamic system using a control law developed for a linearized system. The results were obtained within the framework of the research work 0123U101819 ‘Multi-agent system for the protection of critical infrastructure facilities based on a swarm of multi-copter drones’ and can be used in the development of control systems for UAVs, ground, surface and underwater robotic vehicles