离散变结构控制系统的比例—等速—变速控制

提出离散变结构控制系统的变速趋近律和比例一等速－变带控制策略，以变速趋近律为到达条件，可产生扇形切换区，并可期待原点的稳定性。将变速趋近律和指数趋近组合使用，可形成一种新的控制策略，它克服了两种趋近律的缺点，保留了其优点，使系统性能得以改善。

Proportional-constant-variable Rate Control for Discrete-time Variable Structure Systems

The variable rate reaching law and proportional-constant-variable rate control strategy are introduced. The special feature of variable rate reaching law is that it is directly proportional to the norm of state vector and can result in a sector-shaped switching region. The stability at the origin can be expected. On the basis of the variable rate reaching law and exponential rate reaching law, a proportional-constant-variable rate control strategy is formed. It overcomes the shortcomings of the two laws and retains their merits. Thus the performance of system is improved.