不确定离散时间系统积分滑模保性能控制

针对不确定离散时间系统，研究其积分滑模（ＩＳＭ）保性能控制的设计问题．将最优保性能积分滑模面设计问题，转化为一个具有线性矩阵不等式（ＬＭＩ）约束的目标函数凸优化问题，给出了最优保性能积分滑模面存在的充分条件，并结合干扰估计器设计相应的保性能控制器．与传统滑模控制相比较，积分滑模保性能控制系统具有全阶滑动模态，系统的鲁棒性得到加强，消除了控制抖振和稳态抖振．仿真结果验证了该方法的有效性．

Integral-sliding-mode guaranteed cost control for discrete-time system with uncertainty

The integral-sliding-mode(ISM) guaranteed cost control is studied for a class of uncertain discrete-time linear systems. The optimal guaranteed cost integral-sliding-mode surface can be formulated as a convex optimization problem with linear matrix inequalitis(LMI). A sufficient condition for a existence of optimal guaranteed cost integralsliding-mode is derived. Furthermore,guranteed cost controllers are provided with disturbance estimator. Compared with traditional sliding-mode control, integral-sliding-mode guaranteed cost control systems have full-order slidingmode, which can improve the robustness, and chattering is eliminated. Finally, a simulation example shows effectiveness of the proposed method.