Design of new sliding mode control system using discrete-time switching dynamics and its stability analysis

이산 시간 스위칭 다이나믹을 이용한 새로운 슬라이딩 모드 제어 시스템의 설계 및 안정도 해석

In this paper we consider the variable structure control for a class of discrete-time uncertain multivariable systems where the nominal system is linear. Discrete-time switching dynamics are introduced so that a new type of state trajectories called sliding mode may exist on the sliding surface by state feedback. The quantitative analysis for the matched uncertainties will show that every response of the system with the proposed switching dynamics is bounded within small neighborhoods of the state-space origin. Also, by the similarity transformation it will be shown that the eigenvalues of the closed-loop systems are composed of those of the subsystems which govern the range-space dynamics and null-space dynamics. It will be also shown that ideal sliding mode can be obtained in the absence of uncertainties due to one-step attraction to the sliding surface regardless of initial position of states. (author). 12 refs., 2 figs.