Research object - the dynamic process in uncertain multimass objects. The purpose of the work is the development of synthesis methods and the analysis of high-precision position control systems of uncertain multimass objects with improved precision and dynamic characteristics. Research methods: the state space method, the theory of observers, modal control method, Lyapunov's movement stability theory, the theory of singularly disturbed differential equations, the method of numerical simulation. Research apparatus: personal computer. Theoretical and practical results - designed identification methods of uncertainty vector and state vector, observer and control algorithm synthesize method provide desired control system performance indices, it improves observer and control system dynamical characteristics at all; the using of synthesized observers reduces the number of encoders that need for controlling, it increases the work capability and decreases the price of control systems. Novelty - 1) for object, that described by second-order matrix differential equation, a new observer for state and uncertainty vectors estimation, which uses as initial information just position signal vector, was developed; proposed method in spite of methods of speed vector obtaining by asymptotical differentiation or extrapolation uses control object model, it provides better accuracy; 2) for two-mass elastic system, that consist of motor, elastic transmission and control object (CO), at known current, motor speed and CO position the new observer of uncertainty, which includes load, friction in motor and CO, inertial force, was developed; the using of obtained uncertainty estimation in combined control law allows to increase control accuracy and provide desired transient performance indices; 3) for direct current motor at known current and motor speed firstly equivalent summary resistance identificator was offered; this resistance includes voltage converter errors, uncertain known of inductive and active resistances, and motor coefficient; the using of obtained resistance estimation in combined control law allows to increase control accuracy and provide desired transient performance indices; 4) for wrote in p. 2 system at motor friction absence and with measuring of only motor currenr and CO position firstly observer that estimates CO speed and position and equivalent summary resistance, which includes voltage converter errors, uncertain known of inductive and active resistances, and motor coefficient, was offered; the using of obtained estimations in combined control law allows to increase control accuracy and provide desired transient performance indices. Research results introduced in State Enterprise Lvov Science-Research Radiotechnical Institute during control system of surface mobile object aggregates design, and the use of obtained results in SPE "Hartron-Yukom" (Zaporizhzhya) and in PE "Science-Production Complex "Iskra" (Zaporizhzhya) is planned, it's confirmed by the acts of introduction. Science and practice results of the thesis may be used by educational establishments and organizations, that deals with development of high-precision control systems; in the field of machine-building and metallurgical industries, in control systems of space object, radio-locators and armaments, rolling production; in education process during the automation electromechanical system and electrodrive specialists training.
