基于输出反馈的离散滑模控制器设计

针对一类多输入多输出不确定离散系统，设计了输出反馈滑模变结构控制器.基于极点配置的方法设计了稳定的滑模面，然后分析传统离散指数趋近律设计方法的优缺点，根据滑模到达条件提出一种改进的指数趋近律.该控制律加快了系统状态的响应速度，同时降低了抖振.仿真结果证明所设计的控制器能够在系统状态不完全可测情况下具有良好的性能，验证了该设计方法的可行性和有效性.

Discrete-Time Sliding Mode Controller Design Based on Output Feedback

An improved output feedback variable structure controller was designed for a class of multi-input multi-output (MIMO) uncertain discrete-time systems. The stable sliding surface was designed on the basis of the pole assignment method. Then, the advantages and disadvantages of the traditional discrete-time exponential approximation law were analyzed. A modified discrete-time exponential approximation law was presented on the basis of the sliding mode control condition. The designed control law could ensure quickly the state response of the system and chattering could be reduced at the same time. When the states were not fully measured, the proposed controller had a good performance. The simulation results verified that the proposed algorithm was feasible and effective.