ABOUT THE DISCRETE INVERSE MODEL IN THE PROBLEM OF THE CONTROL OF A MOVEMENT OF AN UNDERWATER PIPELINE

The problem of the control of a movement of the upper end of the pipe, fixed on a mining ship, in the provision of a given movement of the lower end relative to the bottom of the ocean. The solution is proposed with using the inverse model of the pipeline. The block diagram of the automatic control system, that is invariant to the input signal is described.