DISCRETE-TIME VARIABLE-STRUCTURE CONTROL-SYSTEMS

This paper presents a treatment of discrete variable structure control systems. The purpose is to lay a foundation upon which design of such type of systems can be made properly. Phenomena of switching, reachin g, and quasi-sliding mode are investigated thoroughly. Terms pertainin g to discrete variable structure control are defined. Method of quasi- sliding mode design is given. The inherently existing quasi-sliding mo de band is analyzed. A recently introduced ''reaching law approach'' i s conveniently used to develop the control law for robust control. Com ments are given regarding chattering. The design technique is illustra ted by a simulated system.