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Stable, Robust Tracking by Sliding Mode Control

George C. Verghese

出版	Sloan School of Management, Massachusetts Institute of Technology, 1987
URL	http://books.google.com.hk/books?id=4XhkGwAACAAJ&hl=&source=gbs_api

註釋

Sliding mode control is examined from the perspective of obtaining stable and robust tracking of an arbitrary time-varying reference by a multi-input-output, linear, time-invariant system driven by a certain class of bounded errors, nonlinearities and disturbances. Most exciting schemes for such systems are subsumed by the one presented here. The results are developed via the use of inverse models, and make clear the constraints imposed by the finite and infinite zero structure of the system. In particular, stable and robust tracking is shown to be obtained by the scheme in this paper if and only if the system is minimum phase. Keywords include: Sliding modes, Variable structure systems, Tracking, Robust control, Inverse models, and Zeros.