AN APPROACH TO PERTURBATION COMPENSATION FOR VARIABLE-STRUCTURE SYSTEMS

By exploiting the particular characteristics of variable structure con trol, a new approach is introduced to determine a system perturbation signal from the dynamics of the sliding mode. Perturbation feedforward compensation is then incorporated into the design of a control law th at cancels the effects of system uncertainties and external disturbanc es. The robust control law ensures that the sliding mode is reached in finite time and with prescribed transient behaviour. Implementation a spects such as signal measurement uncertainty are also considered. Det ailed computer simulation results are presented to demonstrate the eff ectiveness of the approach.