多输入不确定系统离散变结构控制设计

研究基于离散趋近律方法的变结构控制设计问题，提出一种新型的离散趋近律。其特点是可以稳定于原点，能有效消除由传统离散趋近律参数引起的抖振。针对不确定因素的影响设计扰动预估器，它对变化率较慢的外干扰和参数摄动具有很高的估计精度。仿真结果表明了所提出设计方法的有效性。

Discrete variable structure control design for multi-input uncertain systems

A new approach in the design of discrete-time variable structure control is presented based on the reaching law approach. First, a discrete reaching law, which is stable at the origin and can eliminate the chattering caused by conventional discrete reaching law parameters, is proposed. Subsequently, an algorithm for uncertainty estimation is developed. The estimator has perfect performances, especially for slowly changing disturbances or parameter perturbations. Simulation results show the effectiveness of the proposed approach.