Design of a Discrete Variable Structure Tracking Controller with Adaptive Feedforward Gains

적응 순방향 이득을 갖는 이산가변 구조추종 제어기의 설계

In this paper conditions are derived, which ensure the existence of a quasi-sliding mode on the control switching hyperplane in discrete variable structure control systems and also remove the reaching phase problem observed in continuous-time variable structure systems. In addition, a discrete variable structure tracking controller which has adaptive properties is devised based on these results. This controller has useful properties, such as small sensitivity to the variation of plant parameters and to disturbances and its performing speed is fast compared to that of other adaptive controller.