直流伺服系统单值预估离散滑模控制

为了保证闭环系统的鲁棒稳定性，根据不确定系统的名义模型设计理想滑模面，并以名义模型作为预测模型，利用当前及过去时刻的滑模信息预测将来时刻的滑模动态，将预测控制理论中滚动优化、反馈校正的思想引入离散滑模控制系统的设计，提出了基于单值预估控制算法的离散滑模控制系统设计方法。仿真结果表明，该方法不仅完全消除了抖振现象，且能保证闭环系统的鲁棒稳定性。另外，由于采用了单值预估，使得控制算法非常简单。

Discrete- time sliding mode control of DC servo system based on predictive control algorithm

This paper presents a new algorithm to the sliding mode control design for uncertain discrete -time systems based on the predictive control theory. The algorithm uses a nominal model to determine i-deal sliding surface and to predict future sliding mode dynamics, conducts receding optimization, and makes feedback correction. The new method can eliminate chattering effectively and ensure the closed -loop system to be robust stable. Also, it is easy to calculate. The proposed algorithm is applied to a DC servo system. Simulation results verify its effectiveness.