Mathematical and computer modeling of automatic control in the presence of disturbances

One of the most important tasks of the automatic motion control system in real operating conditions is to compensate for the influence of disturbances acting on the object, taking into account the peculiarities of its dynamics. This article presents a method for calculating the coefficients of automatic control, which provides a minimum of the size of the set of reactions to non-deterministic external influences, limited by the norm, and the necessary location of the roots of the characteristic polynomial of a system closed by such control. The specified algorithm is implemented in MATLAB and tested on the example of a specific marine vessel. Based on the simulation results, a conclusion is made about the acceptable quality of the generated algorithm.