The article is devoted to the synthesis of a digital algorithm for quasi-invariant control (quasi-invariant regulation) of the angular velocity and torque of the rotor of the electric drive of the mobility node of a production humanoid robot. As such digital algorithm, combined usage of the following digital algorithms is proposed: a discrete Leuinberger observer (digital algorithm measuring angular velocity); correction of the dynamic properties of an electric drive built using the state control method with a desired (given) characteristic equation (desired characteristic equation method (DCEM)); proportional-integral-differentiating controllers. The proposed method for synthesizing a digital control algorithm allows combining all the positive properties of proportional-integral-differentiating control with the most common in engineering practice algorithms for correcting dynamic properties of a control object, the mathematical model of which is a multidimensional stationary.