多变量系统的全程滑态变结构模型跟踪控制

Design of Global Sliding Mode Variable Structure Model Following Multi Variable Control System

研究了多变量系统的变结构模型参考设计问题，针对同时具有参数摄动和外界干扰的多变量系统提出了一种全程滑态变结构模型跟踪控制方案，使得误差系统从一开始就处于滑动模态上，改善了跟踪误差的瞬态性能和鲁棒性，仿真结果表明了该方法的有效性。

We believe that there is as yet no satisfactory solution of the unfavorable effect that parameter perturtation and external noise always have on the transient performance and robustness of tracking error of sliding mode model following multi variable control systems. We propose to solve the above problem with the design of a global sliding mode variable structure model following multi variable control system. The main feature of our design is that the system always remains in the sliding mode so that the transient performance and robustness of tracking error system is much improved. We discuss fully how this main feature is to be attained and the discussion finally culminates in eq.(2). Digital simulation results in Figs.1 through 4 show preliminarily that our design is feasible.