不确定离散系统全程滑模变结构控制研究

讨论线性多变量不确定离散系统全程滑模变结构控制问题。本文将干扰和参数不确定性等效为系统的外界干扰，利用时延性对不确定性进行在线估计，并根据全程滑模的特点采用等效控制方法设计控制器。本文的方法克服了以往控制方法中须已知不确定性界的限制，且不必满足匹配条件．且采用等效控制方法设计控制器解决了以往用离散趋近律方法设计控制器系统存在抖振的问题。并基于倒立摆模型进行了仿真，结果验证了其有效性。

Research on global sliding mode variable structure control in discrete control system based on inverted pendulum

A Global sliding mode Variable Structure Controller(GVSC) designing method is proposed for multi-variable discrete time system in this paper.The new controller regards the influence of unknown disturbances and parameter uncertainties as an equivalent disturbance and generates an on-line estimation by the mechanism of time daley. According as the charactenstic of GVS, this paper designed a GVSC by useing an equivalent control method. This new method can overcome the effect of chattering without a prior knowledge of the uncentainty bounds or matched conditions.The simulation result of inverted pendulum model is also presented to demonstrate its effectiveness.