Abstract:
The design principles of Variable Structure Systems (VSS) sliding mode controllers in continuous time, achieving plant parameter insensitivity and disturbance rejectiont are studied. The continuous VSS theory is extended to the discrete time domain. New design methods in Discrete Variable Structure Systems (DVSS) by which it is possible to reach the. switching planes in a stepwise. fashion are developed. Also an adaptation mechanism counteracting noise and plant parameter variations, not requiring any information. about the noise statistics, is· introduced. Both regulation and tracking problems for discrete time control systems are considered and suitable algorithms are developed. The feasibility of the control algorithm is verified through simulations on a digital computer.
