控制存在时滞的线性系统主动控制的滑移模态方法

本文研究控制存在时滞的线性系统的滑模控制方法。在控制时滞量为采样周期的整数倍和非整数倍的两种情况下，通过采用零阶保持器，将包含时滞的连续系统转化为形式上不包含时滞的标准离散线性系统，然后分别进行切换函数和控制律的设计。所得出的切换面和控制律表达式中，除了含有当前的状态反馈外，还包含有前若干步控制项的线形组合。最后对某三自由度结构模型进行仿真计算，验证了所给控制方法的有效性。

Sliding-mode Control Method for Linear Systems with Time-delay in Control

In this paper,the sliding-mode control method for linear systems with time-delay in control was investigated. In consideration of two cases that the time-delay is integer and non-integer of sampling period respectively, the continuous-time systems with time-delay were transformed into standard discrete forms which contain no time-delay by using a zero-order holder. Then switching function and controller could be designed. The deduced switching function and controller contain not only current step of state feedback but also linear combination of some former steps of control. Simultation calculation was taken into account for a three-degree-freedom model in the end of this paper to demonstrate the effectiveness of the presented control method.