一种离散全程滑模变结构控制方法

针对离散时间系统提出了一种全程滑模变结构控制器设计方法。通过选择合适的滑模切换函数，使系统的轨线一开始便落在滑模面上，有效地缩短了系统状态到达滑动模态的时间，使系统从初始状态到平衡点的全过程都具有鲁棒性。针对利用离散趋近律方法设计全程滑模变结构控制器系统存在抖振的缺点，本文利用常规等效控制方法设计离散全程滑模变结构控制器，消除了系统的抖振，改善了系统的动态性能。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

An Global sliding mode Variable Structure Controller(GVSC) designing method is proposed for discrete time system in this paper.This approach guarantees that the trajectory of the system arrives at the switching surface at the very beginning,and it can efficiently shorten the time during which system initial states reach the sliding mode by giving a good sliding mode function,This GVSC permits robustness for the system dynamics over all the response time.Considering that there will be a chattering in the systerm by using discrete reaching law to design a GVSC,this paper design a GVSC by useing a equivalent control method.This method can overcome the effect of chattering.The simulation result of inverted pendulum model is also presented to demonstrate its effectiveness.