无抖振离散准滑模控制

基于对常规离散准滑动模态及其抖振的分析，提出将离散趋近等效控制相结合的控制策略，既保证了趋近模态具有良好品质，又降低了准滑动模态带。该控制策略可避免系统状态步步反向穿越滑动面的抖振运动，从面消除了控制的抖振，并以较少的控制能量获得较好的系统性能。

Chattering-free Discrete Quasi-sliding Mode Controller

Based on the analysis of the conventional discrete quasi sliding mode and its chattering, the control strategy combining discrete quasi sliding mode control with discrete equivalent control is presented. Not only the good qualities of the reaching mode preserved are ensured, but also the undesired chattering of the system states and the control signal with crossing the surface again in every successive sampling period are avoided. A good performance of the system is achieved using reduced control effort.