Abstract: Method and apparatus for robust integral-pulse control of servodrives of unknown dynamics. According to the current value of the controlled object position, a microprocessor controller presets the current values of pulse duration and pulse amplitude as functions of the position control or velocity control error. The current value of the pulse period is a function of the sum of (difference between) the current values of orthogonality and robustness parameters when the object moves with acceleration (when the object moves with deceleration). The orthogonality parameter is calculated in proportion to the current value of pulse duration under the condition of orthogonality of the adjacent pulses and the Indeterminacy Principle. The robustness parameter is a function of the current object acceleration/deceleration.