基于预测控制策略的离散滑模控制研究
|
摘要
滑模控制(SMC)理论从其出现至今已有半个多世纪的时间,然而其研究成果尚还主要集中在连续系统的分析与综合中。随着计算机技术的日益普及和数字控制器、执行器的广泛使用,对离散滑模控制理论与应用的研究越来越受到科研工作者和工程应用人员的关注。本论文针对传统SMC需要较大的控制力驱使状态到达滑模面、系统鲁棒性的强弱依赖于不确定项上界等不足,在离散滑模控制器的设计中引入预测控制(MPC)策略。以一般线性系统及几类典型的非线性系统为对象,考虑系统的镇定问题和跟踪问题,通过借用模型算法控制:和广义预测控制思想,构造不同的滑模预测模型(SMPM),采用合适的滑模参考轨迹,运用反馈校正和滚动优化技术,设计了适用于不同系统的预测滑模控制器。理论分析和仿真研究验证了预测滑模控制相比于传统滑模控制的优越性,直升机高度和水箱液位的预测滑模控制实验结果进一步说明了论文中所提方法的有效性和实用性。
本论文的主要研究内容包括:
1.针对由CARIMA(Controlled Auto-Regressive Integrated Moving Average)模型所描述的一类系统,提出了一种广义预测滑模控制算法。该算法的设计分四个部分:首先,在给出了期望滑模面之后,建立了一个基于系统伴随矩阵的SMPM,用以预测滑模的未来信息;其次,为了驱使SMPM的输出平滑地到达滑模面,设计了合适的滑模参考轨迹;再次,通过定义一个与SMPM输出相关的函数作为性能指标,并基于滚动优化,得到了增量形式的广义预测滑模控制律;最后,结合参数辨识方法,用以在线辨识CARIMA模型参数。由于基于CARIMA模型的广义预测控制算法能够方便地处理控制时滞,我们的算法也能方便地推广到控制时滞系统。
2.针对一般离散线性系统,考虑给定运动轨迹的跟踪问题。为了对匹配和不匹配不确定项都具有强鲁棒性,且得到优化的控制量,把MPC结合到SMC中。借用全程滑模的观点,设计出新颖的SMPM;基于一阶惯性环节,构造了滑模参考轨迹,进而保证良好的趋近模态;使用反馈校正和滚动优化观点,系统的不确定项,无论其是否满足匹配条件,均能及时得到补偿;二次型指标中包含了控制量的惩罚项,可以协调滑模预测跟踪误差和控制输入对性能指标的影响;求解二次型指标得到了非切换型的滑模控制器,因而系统中不存在抖振;严格的理论分析证明了闭环系统的鲁棒稳定性。
3.针对过程模型可分离为线性部分和非线性部分的系统,将非线性反馈通道沿着在预测时域内已知的某参考轨迹线性化,得到了系统的时变线性模型。为系统指定了合适的滑模面之后,根据所得时变线性系统的标称模型,设计出SMPM。通过反馈校正和滚动优化,得出了无约束情况下的系统优化控制解。理论分析证明闭环系统对有界变化律的匹配和不匹配不确定项具有强鲁棒性。数值仿真说明相比于传统高氏趋近律DSMC方法,所提算法使得闭环系统具有更强鲁棒性和更快的收敛速度,同时不存在抖振。当解存在时,所提方法适用于带约束系统。由于将系统非线性模型转换成了时变线性模型,系统的优化问题是一个二次规划问题,而不是非线性规划问题,因而大大减少了计算量。
4.针对下三角规范型离散非线性系统,考虑SMC设计问题。在保证滑模面具有期望性能之后,通过为系统设计时变SMPM,利用反馈校正修正SMPM以实现对不确定项的及时补偿。使用滚动优化,我们得出了优化的预测滑模控制器。理论证明闭环系统具有鲁棒稳定性,不需要不确定项的上界已知,且在采样时间较小或系统不确定性和外部干扰变化较慢时,准滑模带宽可以很小。数值仿真表明,所提算法相比于传统高氏趋近律DSMC方法,闭环系统具有更强的鲁棒性,状态收敛更快,控制信号峰值更小以及不存在抖振。
5.针对一类离散不确定非线性耦合系统,提出了预测滑模控制算法。受递归滑模思想的启发,设计了一种SMPM。考虑到模型失配问题,利用预测滑模输出值和实测滑模值之间的差值来对SMPM进行反馈校正,进而应用滚动优化,导出非切换型的滑模控制器。滑模的可达性通过迫使滑模预测值跟踪期望的滑模参考值来实现。由于滚动优化和反馈校正的引入,及时补偿了不确定项对系统的影响,从而保证了闭环系统具有强鲁棒性。鲁棒分析证明了即使当不确定性和外部干扰的界未知时,闭环系统也可以实现鲁棒稳定。数值和旋转倒立摆的仿真结果验证了所提算法的有效性。
最后是全文的总结和展望。
Half century has passed since the appearance of sliding mode control (SMC), however, most of the research results are about continuous-time systems. With the development of computers technology and the widespread of digital controllers/manipulators, the investigation of SMC for discrete-time systems becomes intensive among researchers and engineers. Considering the shortcomings of the conventional SMC, such as great control signal is required to drive system states arrive sliding mode surface, the robustness depends on the upper bound of uncertainties and so on, predictive control strategy is introduced into the design of SMC in this thesis. For general linear systems and some classes of nonlinear systems, focusing on the stabilization problem and tracking problem, using the principles of General Predictive Control (GPC) and Model Algorithmic Control (MAC), several sliding mode predictive models are constructed. By choosing different kinds of sliding mode reference trajectory, employing feedback correction and receding horizon optimization approaches, discrete-time sliding mode controllers which fit to corresponding systems, are obtained. Theoretical analysis and simulation results indicate the advantages of the presented predictive sliding mode control method over the conventional SMC methods. The height control of helicopter and the level control of tank experiments verify the practical efficiency of the proposed methods.
The primary results of this thesis can be described as follows,
1. For the systems described by Controlled Auto-Regressive Integrated Moving Average (CARIMA) model, the general predictive sliding mode control algorithm is proposed. The design of this algorithm is comprised of four stages: firstly, after giving the desired sliding surface, the sliding mode prediction model (SMPM) is created based on the adjoint matrix of the system, such that the future information of sliding mode can be used; secondly, in order to force the system states to sliding surface smoothly, a suitable sliding mode reference trajectory (SMRT) is designed; thirdly, by defining a performance index which is relatives to the output of SMPM, and then due to receding horizon optimization, the incremental general predictive sliding mode controller is obtained; fourthly, parameter identification is used to identify the parameters in CARIMA model. Because GPC can deal with control time-delay conveniently, our algorithm can be extended to control time-delay systems.
2. For general discrete-time linear systems, the tracking problem for known motion is considered. In order to make systems have robustness to matched /unmatched uncertainties, and have optimal control signals, model predictive control (MPC) strategy is combined with SMC. Due to global sliding mode approach, a novel SMPM is constructed. Based on first-order process, SMRT is created, so to guarantee the desired reaching mode. Due to feedback correction and receding horizon optimization, the uncertainties can be compensated in time, no matter the uncertainties are satisfied matched condition or not. Quadratic form performance index which includes the control penalty term, can adjust the influence of sliding mode predictive error and control input in the index. Solving the index, the non-switching type discrete-time sliding mode controller is obtained, thus the chattering will not appear in the system. Rigor theoretic proof verifies the robust stability of the closed-loop systems.
3. For a class of systems which can separate to linear component and nonlinear component, by linearizing the nonlinear feedback loop with respect to a known reference trajectory in prediction horizon , a linear time-vary (LTV) system model is gotten. After assigning a suitable sliding surface which can guarantee the stability of ideal sliding mode, according to the gotten LTV model, a time-vary SMPM is given. By feedback correction and receding horizon optimization, for the case of no constraint, the optimal control signal is obtained. In a numerical example, compared with conventional DSMC, the presented algorithm makes the closed-loop system possess stronger robustness and faster convergence, and no chattering. When the solution of the optimization problem exists, the proposed algorithm fits to systems with constraints. Because the nonlinear model is converted to time-vary linear model, the optimization problem is quadratic programming not nonlinear programming, the computational complexity is reduced.
4. The SMC is constructed to deal with Brunowsky-like canonical form nonlinear systems. A sliding surface which possesses desired dynamic, is designed at first. By creating a time-vary SMPM, employing feedback correction to compensate the influence of uncertainties, and using receding horizon optimization, the optimal discrete-time sliding mode controller is obtained. Theoretical analysis shows the closed-loop systems is robust stable, the upper bounds of uncertainties are not required, and the quasi-sliding mode band is tiny when the sampling period is small or the uncertainties have slow change rates. Numerical results indicates the presented algorithm guarantees the closed-loop system has stronger robustness, faster convergence and lower peak value in control signal, compared with the conventional reaching law DSMC method.
5. For a class of discrete-time coupled nonlinear uncertain systems, enlighten by recursive sliding mode approach, a special SMPM is presented. Considered model mismatching, the error between the output of SMPM and real switching function value is used to make feedback correction. Due to receding horizon optimization, non-switching type discrete-time sliding mode controller is obtained. Because of feedback correction and receding horizon optimization, the influence of uncertainties is compensated immediately, the closed-loop system possesses strong robustness to matched or unmatched uncertainties as a result. Theoretic analysis proofs that the closed-loop system is robust stable even though the upper bounds of uncertainties and external disturbances are unknown. The results of a numerical example and a two-link rotational inverted pendulum illustrate the efficiency of the presented algorithm.
The conclusion and perspective are given at the end of the dissertation.
本论文的主要研究内容包括:
1.针对由CARIMA(Controlled Auto-Regressive Integrated Moving Average)模型所描述的一类系统,提出了一种广义预测滑模控制算法。该算法的设计分四个部分:首先,在给出了期望滑模面之后,建立了一个基于系统伴随矩阵的SMPM,用以预测滑模的未来信息;其次,为了驱使SMPM的输出平滑地到达滑模面,设计了合适的滑模参考轨迹;再次,通过定义一个与SMPM输出相关的函数作为性能指标,并基于滚动优化,得到了增量形式的广义预测滑模控制律;最后,结合参数辨识方法,用以在线辨识CARIMA模型参数。由于基于CARIMA模型的广义预测控制算法能够方便地处理控制时滞,我们的算法也能方便地推广到控制时滞系统。
2.针对一般离散线性系统,考虑给定运动轨迹的跟踪问题。为了对匹配和不匹配不确定项都具有强鲁棒性,且得到优化的控制量,把MPC结合到SMC中。借用全程滑模的观点,设计出新颖的SMPM;基于一阶惯性环节,构造了滑模参考轨迹,进而保证良好的趋近模态;使用反馈校正和滚动优化观点,系统的不确定项,无论其是否满足匹配条件,均能及时得到补偿;二次型指标中包含了控制量的惩罚项,可以协调滑模预测跟踪误差和控制输入对性能指标的影响;求解二次型指标得到了非切换型的滑模控制器,因而系统中不存在抖振;严格的理论分析证明了闭环系统的鲁棒稳定性。
3.针对过程模型可分离为线性部分和非线性部分的系统,将非线性反馈通道沿着在预测时域内已知的某参考轨迹线性化,得到了系统的时变线性模型。为系统指定了合适的滑模面之后,根据所得时变线性系统的标称模型,设计出SMPM。通过反馈校正和滚动优化,得出了无约束情况下的系统优化控制解。理论分析证明闭环系统对有界变化律的匹配和不匹配不确定项具有强鲁棒性。数值仿真说明相比于传统高氏趋近律DSMC方法,所提算法使得闭环系统具有更强鲁棒性和更快的收敛速度,同时不存在抖振。当解存在时,所提方法适用于带约束系统。由于将系统非线性模型转换成了时变线性模型,系统的优化问题是一个二次规划问题,而不是非线性规划问题,因而大大减少了计算量。
4.针对下三角规范型离散非线性系统,考虑SMC设计问题。在保证滑模面具有期望性能之后,通过为系统设计时变SMPM,利用反馈校正修正SMPM以实现对不确定项的及时补偿。使用滚动优化,我们得出了优化的预测滑模控制器。理论证明闭环系统具有鲁棒稳定性,不需要不确定项的上界已知,且在采样时间较小或系统不确定性和外部干扰变化较慢时,准滑模带宽可以很小。数值仿真表明,所提算法相比于传统高氏趋近律DSMC方法,闭环系统具有更强的鲁棒性,状态收敛更快,控制信号峰值更小以及不存在抖振。
5.针对一类离散不确定非线性耦合系统,提出了预测滑模控制算法。受递归滑模思想的启发,设计了一种SMPM。考虑到模型失配问题,利用预测滑模输出值和实测滑模值之间的差值来对SMPM进行反馈校正,进而应用滚动优化,导出非切换型的滑模控制器。滑模的可达性通过迫使滑模预测值跟踪期望的滑模参考值来实现。由于滚动优化和反馈校正的引入,及时补偿了不确定项对系统的影响,从而保证了闭环系统具有强鲁棒性。鲁棒分析证明了即使当不确定性和外部干扰的界未知时,闭环系统也可以实现鲁棒稳定。数值和旋转倒立摆的仿真结果验证了所提算法的有效性。
最后是全文的总结和展望。
Half century has passed since the appearance of sliding mode control (SMC), however, most of the research results are about continuous-time systems. With the development of computers technology and the widespread of digital controllers/manipulators, the investigation of SMC for discrete-time systems becomes intensive among researchers and engineers. Considering the shortcomings of the conventional SMC, such as great control signal is required to drive system states arrive sliding mode surface, the robustness depends on the upper bound of uncertainties and so on, predictive control strategy is introduced into the design of SMC in this thesis. For general linear systems and some classes of nonlinear systems, focusing on the stabilization problem and tracking problem, using the principles of General Predictive Control (GPC) and Model Algorithmic Control (MAC), several sliding mode predictive models are constructed. By choosing different kinds of sliding mode reference trajectory, employing feedback correction and receding horizon optimization approaches, discrete-time sliding mode controllers which fit to corresponding systems, are obtained. Theoretical analysis and simulation results indicate the advantages of the presented predictive sliding mode control method over the conventional SMC methods. The height control of helicopter and the level control of tank experiments verify the practical efficiency of the proposed methods.
The primary results of this thesis can be described as follows,
1. For the systems described by Controlled Auto-Regressive Integrated Moving Average (CARIMA) model, the general predictive sliding mode control algorithm is proposed. The design of this algorithm is comprised of four stages: firstly, after giving the desired sliding surface, the sliding mode prediction model (SMPM) is created based on the adjoint matrix of the system, such that the future information of sliding mode can be used; secondly, in order to force the system states to sliding surface smoothly, a suitable sliding mode reference trajectory (SMRT) is designed; thirdly, by defining a performance index which is relatives to the output of SMPM, and then due to receding horizon optimization, the incremental general predictive sliding mode controller is obtained; fourthly, parameter identification is used to identify the parameters in CARIMA model. Because GPC can deal with control time-delay conveniently, our algorithm can be extended to control time-delay systems.
2. For general discrete-time linear systems, the tracking problem for known motion is considered. In order to make systems have robustness to matched /unmatched uncertainties, and have optimal control signals, model predictive control (MPC) strategy is combined with SMC. Due to global sliding mode approach, a novel SMPM is constructed. Based on first-order process, SMRT is created, so to guarantee the desired reaching mode. Due to feedback correction and receding horizon optimization, the uncertainties can be compensated in time, no matter the uncertainties are satisfied matched condition or not. Quadratic form performance index which includes the control penalty term, can adjust the influence of sliding mode predictive error and control input in the index. Solving the index, the non-switching type discrete-time sliding mode controller is obtained, thus the chattering will not appear in the system. Rigor theoretic proof verifies the robust stability of the closed-loop systems.
3. For a class of systems which can separate to linear component and nonlinear component, by linearizing the nonlinear feedback loop with respect to a known reference trajectory in prediction horizon , a linear time-vary (LTV) system model is gotten. After assigning a suitable sliding surface which can guarantee the stability of ideal sliding mode, according to the gotten LTV model, a time-vary SMPM is given. By feedback correction and receding horizon optimization, for the case of no constraint, the optimal control signal is obtained. In a numerical example, compared with conventional DSMC, the presented algorithm makes the closed-loop system possess stronger robustness and faster convergence, and no chattering. When the solution of the optimization problem exists, the proposed algorithm fits to systems with constraints. Because the nonlinear model is converted to time-vary linear model, the optimization problem is quadratic programming not nonlinear programming, the computational complexity is reduced.
4. The SMC is constructed to deal with Brunowsky-like canonical form nonlinear systems. A sliding surface which possesses desired dynamic, is designed at first. By creating a time-vary SMPM, employing feedback correction to compensate the influence of uncertainties, and using receding horizon optimization, the optimal discrete-time sliding mode controller is obtained. Theoretical analysis shows the closed-loop systems is robust stable, the upper bounds of uncertainties are not required, and the quasi-sliding mode band is tiny when the sampling period is small or the uncertainties have slow change rates. Numerical results indicates the presented algorithm guarantees the closed-loop system has stronger robustness, faster convergence and lower peak value in control signal, compared with the conventional reaching law DSMC method.
5. For a class of discrete-time coupled nonlinear uncertain systems, enlighten by recursive sliding mode approach, a special SMPM is presented. Considered model mismatching, the error between the output of SMPM and real switching function value is used to make feedback correction. Due to receding horizon optimization, non-switching type discrete-time sliding mode controller is obtained. Because of feedback correction and receding horizon optimization, the influence of uncertainties is compensated immediately, the closed-loop system possesses strong robustness to matched or unmatched uncertainties as a result. Theoretic analysis proofs that the closed-loop system is robust stable even though the upper bounds of uncertainties and external disturbances are unknown. The results of a numerical example and a two-link rotational inverted pendulum illustrate the efficiency of the presented algorithm.
The conclusion and perspective are given at the end of the dissertation.
引文
[1]Vadim I.Utkin,First stage of VSS:People and events,Variable Structure Systems:Towards the 21st Century,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.274,pp.1-32,2002.
[2]高为炳,变结构控制的理论及设计方法,科学出版社,第1版,北京,1996年2月.
[3]姚琼荟,黄继起,吴汉松,变结构控制系统,重庆大学出版社,第1版,重庆,1997年1月.
[4]Jurgen Guldner,Jingxin Shi and Vadim Ivanovitch Utkin,Sliding mode control in electromechanical Systems,CRC Press Technology & Industrial Arts,1999.
[5]Asif Sabanovi,Karel Jezernik and Nadira Sabanovi,Sliding modes applications in power electronics and electrical drives,Variable Structure Systems:Towards the 21st Century,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.274,pp.223-252,2002.
[6]V.Gazi,Swarm aggregations using artificial potentials and sliding-mode control,IEEE Transactions on Robotics,Vol.21,No.6,pp.1208-1214,December 2005.
[7]Asif Sabanovic,Khalid Abidi,Cagdas Onal,Sliding mode control application to nano positioners,Advances in Variable Structure and Sliding Mode Control,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.334,pp.395-421,2006.
[8]周军,冯文剑,基于变结构控制理论的BTT导弹自动驾驶仪的三通道独立设计,宇航学报,第15卷,第1期,42-47页,1994年.
[9]李勇,吴宏鑫,挠性航天器旋转机动的变结构控制,航天控制,第14卷,第1期,19-26页,1996年.
[10]伍言真,丘水生,DC/DCCr开关变换器滑模变结构控制的新方案,电子学报,第28卷,第5期,62-64页,2000年.
[11]孙常胜,陈杰,窦丽华,基于最优化的坦克稳定器滑动模态变结构控制,兵工学报,第22卷,第1期,15-18页,2001年.
[12]王家军,许镇琳,王豪,孟明,基于逆变器死区特性的永磁同步电动机系统的μ-修整变结构控制,中国电机工程学报,第23卷,第4期,148-152页,2003年.
[13]宋军英,刘涤尘,陈允平,异步化同步发电机与同步发电机并联运行的分散变结构控制,中国电机工程学报,第24卷,第6期,172-178页,2004年.
[14]Wu-Chung Su and Ching-Chih Tsai,Discrete-time VSS temperature control for a plastic extrusion process with water cooling systems,IEEE Transactions on Control Systems Technology,Vol.9,No.4,pp.618-623,July 2001.
[15]Chih-Lyang Hwang,Chau Jan and Ye-Hwa Chen,Piezomechanics using intelligent variable-structure control,IEEE Transactions on Industrial Electronics,Vol.48,No.1,pp.47-59,Feburary 2001.
[16]C.Lascu,I.Botdea and F.Blaabjerg,Variable-structure direct torque control -a class of fast and robust controllers for induction machine drives,IEEE Transactions on Industrial Electronics,Vol.51,No.4,pp.785-792,August 2004.
[17]C.Lascu,I.Boldea and F.Blaabjerg,Very-low-speed variable-structure control of sensorless induction machine drives without signal injection,IEEE Transactions on Industry Applications,Vol.41,No.2,pp.591-598,March 2005.
[18]Gujjula,Sushma and Singh,Sahjendra N,Variable Structure Control of Unsteady Aeroelastic System with Partial State Information,Journal of Guidance,Control and Dynamics,Vol.28,No.3,pp.568-573.May 2005.
[19]A.Sivert,B.Nahid,and G.Capolino,Position Control of an Induction Machine Using Variable Structure Control,IEEE/ASME Transactions on Mechatronics,Vol.11,No.3,pp.358-361,2006.
[20]Alan S.I.Zinober,Variable structure and lyapunov control,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.193,1994.
[21]Weibing Gao and James C.Hung,Variable structure control of nonlinear systems:a new approach,IEEE Transactions on Industrial Electronics,Vol.40,No.1,pp.45-55,February 1993.
[22]Vadim.I.Utkin,Variable structure systems with sliding modes,IEEE Transactions on Automatic Control,Vol.AC-22,No.2,pp.212-222,April 1977.
[23]O.M.E.E1-Ghezawi,A.S.I.Zinober and S.A.Billings,Analysis and design of variable structure systems using a geometric approach,International Journal of Control,Vol.38,No.3,pp.657-671,September 1983.
[24]Jean-Jacques E.Slotine,Sliding controller design for non-linear systems,International Journal of Control,Vol.40,No.2,pp.421-434,August 1984.
[25]R.A.DeCarlo,S.H.Zak and G.P.Matthews,Variable structure control of nonlinear multivariable systems:A tutorial,Proceedings of the IEEE,Vol.76,No.3,pp.212-232,March 1988.
[26]Y.Dote and R.G.Hoft,Microprocessor based sliding mode controller for a dc motor drives,Industrial Applications Society Annual Meeting,pp.641-645,Cincinnati,OH,1980.
[27]C.Milosavljevic,General conditions for the existence of a quasisliding mode on the switching hyperplane in discrete variable structure systems,Automatic Remote Control,Vol.46,pp.307-314,May 1985.
[28]S.Sarpturk,S.Y.Istefanopulos and O.Kaynak,On the stability of discretetime sliding mode control systems,IEEE Transactions on Automatic Control,Vol.32,No.10,pp.930-932,October 1987.
[29]U.Kotta,Comments on "On the stability of discrete-time sliding mode control systems",IEEE Transactions on Automatic Control,Vol.34,No.9,pp.1021-1022,September 1989.
[30]S.Sarpturk,S.Y.Istefanopulos,Authors' reply,IEEE Transactions on Automatic Control,Vol.34,No.10,pp.1022,September 1989.
[31]John Y.Hung,Weibing Gao and James C.Hung,Variable structure control:a survey,IEEE Transactions on Industrial Electonics,Vol.40,No.1,pp.2-21,February 1993.
[32]Weibing Gao,Yufu Wang and Abdollah Homaifa,Discrete-time variable structure control systems,IEEE Transactions on Industrial Electonics,Vol.42,No.2,pp.117-122,April 1995.
[33]K.David Young,Vadim I.Utkin and Umit Ozguner,A control Engineer's guide to sliding mode control,IEEE Transactions on Control Systems Technology,Vol.7,No.3,May 1999.
[34]Eric M.Hanczyc and Ahmet Palazoglu,Sliding mode control of nonlinear distributed parameter chemical processes,Industrial & Engineering Chemistry Research,Vol.34,557-566,1995.
[35]L.Qi,Slilding mode control of a class of ITO type distributed parameter systems with delay,Acta Mathematica Scientia,Vol.27,No.1,pp.67-76,2007.
[36]K.Bouyoucef,K.Khorasani and M.Hamerlain,Chattering-alleviated generalized variable structure control for experimental robot manipulators,Proceeding of the Thirty-Eighth Southeastern Symposium on System Theory,pp.152-156,March 5-7,2006.
[37]R.M.Hirachorn,Generalized sliding-mode control for multi-input nonlinear systems,IEEE Transactions on Automatic Control,Vol.51,No.9,pp.1410-1422,2006.
[38]Feng Zheng and Paul M.Frank,Finite dimensional variable structure control design for distributed delay systems,International Journal of Control,Vol.74,No.4,pp.398-408,March 2001.
[39]L.Gang,C.Hong,Q.Shuang and H.Jun,Robust sliding-mode filtering for a class of uncertain nonlinear discrete-time state-delayed systems,自动化学报,Vol.32,No.1,pp.98-102,2006.
[40]Chun-Yi Su and Y.Stepanenko,Adaptive variable structure set-point control of underactuatedrobots,IEEE Transactions on Automatic Control,Vol.44,No.11,pp.2090-2093,November 1999.
[41]F.Fahimi,Sliding-mode formation control for underactuated surface yessels,IEEE Transactions on Robotics,Vol.23,No.3,pp.617-622,2007.
[42]Hebertt Sira-Ramirez,Non-linear discrete variable structure systems in quasi-sliding mode,International Journal of Control,Vol.54,No.5,pp.1171-1187,November 1991.
[43]K.Y.Chang and W.J,Chang,Variable structure controller design with H∞ normand variance constraints for stochastic model reference systems,IEE Proceedings-Control Theory and Applications,Vol.146,No.6,pp.511-516,November 1999.
[44]P.Shi,Y.Xia,G.P Liu,and D.Rees,On designing of sliding-mode control for stochastic jump systems,IEEE Transactions on Automatic Control,Vol.51,No.1,pp.97-103,2006.
[45]K.Konishi,M.Hirai and H.Kokame,Sliding mode control for a class of chaotic systems,Physics Letters A,Vol.245,No.6,pp.511-517,August 1998.
[46]Mohammad Haeri and Amir Abbas Emadzadeh,Synchronizing different chaotic systems using active sliding mode control,Chaos,Solitons & Fractals,Vol.31,No.1,pp.119-129,January 2007.
[47]V.Utkin and Jingxin Shi,Integral sliding mode in systems operating under uncertainty conditions,Proceedings of the 35th Decision and Control,Vol.4,pp.4591-4596,December 11-13,1996.
[48]H.H.Choi,LMI-based sliding surface design for integral sliding mode control of mismatched uncertain systems,IEEE Transactions on Automatic Control,Vol.52,No.4,pp.736-742,2007.
[49]Hebertt Sira-Ramirez,Dynamical sliding mode control strategies in the regulation of nonlinear chemical processes,International Journal of Control,Vol.56,No.1,pp.1-21,1992.
[50]H.Liu and Y.X.Wu,Robust dynamical sliding mode control of a class of nonholonomic systems,2006 International Conference on Machine Learning and Cybernetics,pp.791-796,2006.
[51]A.Levant,Sliding order and sliding accuracy in sliding mode control,International Journal of Control,Vol.58,No.6,pp.1247-1263,1993.
[52]I.Boiko,L.Fridman,A.Pisano and E.Usai,Performance analysis of second-order sliding-mode control systems with fast actuators,IEEE Transactions on Automatic Control,Vol.52,No.6,pp.1053-1059,June 2007.
[53]Xinghuo Yu and M.Zhihong,Multi-input uncertain linear systems with terminal sliding-mode control,Automatica,Vol.34,No.3,pp.389-392,March 1998.
[54]S.Janardhanan and B.Bandyopadhyay,Discrete sliding mode control of systems with unmatched uncertainty using multirate output feedback,IEEE Transactions on Automatic Control,Vol.51,No.6,pp.1030-1035,2006.
[55]G.Bartolini,A.Ferrara and V.I.Utkin,Adaptive sliding mode control in discrete-time systems,Automatica,Vol.31,No.5,pp.769-773,1995.
[56]Siew-Chong Tan,Y.M.Lai,C.K.Tse and M.K.H.Cheung,Adaptive feedforward and feedback control schemes for sliding mode controlled power converters,IEEE Transactions on Power Electronics,Vol.21,No.1,pp.182-192,January 2006.
[57]Tian-Hua Liu and Ming-Tsan Lin,A fuzzy sliding-mode controller design for a synchronous reluctancemotor drive,IEEE Transactions on Aerospace and Electronic Systems,Vol.32,No.3,pp.1065-1076,July 1996.
[58]R.J.Wai,Fuzzy sliding-mode control using adaptive tuning technique,IEEE Transactions on Industrial Electronics,Vol.54,No.1,pp.586-594,2007.
[59]Y.Fang,T.W.S.Chow and X.D.Li,Use of a recurrent neural network in discrete sliding-mode control,IEE Proceedings-Control Theory and Applications,Vol.146,No.1,pp.84-90,January 1999.
[60]Y.Tang,F.Sun and Z.Sun,Neural network control of ftexcible-link manipulators using sliding mode,Neurocomputing,Vol.70,No.3,pp.288-295,2006.
[61]F.J.Lin,P.H.Shen and S.P.Hsu,Adaptive backstepping sliding mode control for linear inductionrnotor drive,IEE Proceedings-Electric Power Applications,Vol.149,No.3,pp.184-194,May 2002.
[62]M.Smaoui,X.Brun and D.Thomasset,Systematic control of an electropneumatic system:Integrator backstepping and sliding mode control,IEEE Transactions on Control Systems Technology,Vol.14,No.5,pp.905-913,2006.
[63]W.C.Wu and T.S.Liu,Sliding mode based learning control for trackfollowing in hard disk drives,Mechatronics,Vol.14,No.8,pp.861-876,October 2004.
[64]X.D.Li,T.W.S Chow,J.K.L.go and H.Z.Tan,Repetitive learning control of nonlinear continuous-time systems using quasi-sliding mode,IEEE Transactions on Control Systems Technology,Vol.15,No.2,pp.369-374,2007.
[65]Hebertt Sira-Ramirez and Michel Fliess,A Dynamical Sliding Mode Control Approach to Predictive Control by Inversion,Proseedings of the 32nd IEEE Conference on Decision and Control,pp.1322-1323,San Antonlo,Texas,Decemeber 1993.
[66]胡剑波,陈新海,反馈线性化系统的非线性预测滑模控制,航空学报,第18卷,第5期,579-582页,1997年9月.
[67]A.E.Rundell,S.V.Drakunov and R.A.DeCarlo,A sliding mode observer and controller for stabilization ofrotational motion of a vertical shaft magnetic bearing,IEEE Transactions on Control Systems Technology,Vol.4,No.5,pp.598-608,September 1996.
[68]Ricardo Aguilar-Lopez and Rafael Maya-Yescas,State estimation for nonlinear systems under model uncertainties:a class of sliding-mode observers,Journal of Process Control,Vol.15,No.3,pp.363-370,April 2005.
[69]C.Edwards,A.Akoachere and S.K.Spurgeon,Sliding-mode output feedback controller design using linear matrix inequalities,IEEE Transactions on Automatic Control,Vol.46,No.1,pp.115-119,January 2001.
[70]S.Janardhanan and B.Bandyopadhyay,Output feedback discrete-time sliding mode control for time delay systems,IEE Proceedings-Control Theory and Applications,Vol.153,No.4,pp.387-396,2006.
[71]胡跃明,变结构控制理论与应用,科学出版社,第1版,北京,2003年1月.
[72]Hoon Lee and Vadim I.Utkin,Chattering analysis,Advances in Variable Structure and Sliding Mode Control,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.334,pp.107-121,2006.
[73]P.Kachroo and M.Tomizuka,Chattering reduction and error convergence in the sliding-modecontrol of a class of nonlinear systems,IEEE Transactions on Automatic Control,Vol.41,No.7,pp.1063-1068,1996.
[74]G.Bartolini,A.Ferrara and E.Usani,Chattering avoidance by secondorder sliding mode control,IEEE Transactions on Automatic Control,Vol.43,No.2,pp.241-246,1998.
[75]G.Bartolini,A.Ferrara,E.Usani and V.I.Utkin,On multi-input chattering-free second-order sliding mode control,IEEE Transactions on Automatic Control,Vol.45,No.9,pp.1711-1717,2000.
[76]L.M.Fridman,An averaging approach to chattering,IEEE Transactions on Automatic Control,Vol.46,No.8,1260-1265,2001.
[77]I.Boiko and L.Fridman,Analysis of chattering in continuous slidingmode controllers,IEEE Transactions on Automatic Control,Vol.50,No.9,1442-1446,2005.
[78]Katsuhiko Ogata著,陈杰,蔡涛,张娟等译 离散时间控制系统(DiscreteTime Control Systems),机械工业出版社,第一版(原书第二版),2006年5月.
[79]Quanser complay,3D Helicopter system(with active disturbance),Quanser innovate,educate.
[80]B.Bandyopadhyay and S.Janardhanan,Discrete-time sliding mode control using multirate output feedback,Advances in Variable Structure and Sliding Mode Control,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.334,pp.351-371,2006.
[81]A.J.Koshkouei and A.S.I.Zinober,Sliding mode control of discrete-time systems,Journal of Dynamic Systems,Measurement and Control,Vol.122,pp.793-802,2000.
[82]S.K.Spurgeon,Hyperplane design techniques for discrete-time variable structure control systems,International Journal of Control,Vol.55,pp.445-456,1992.
[83]S.Janardhanan,B.Bandyopadhyay and V.K.Thakar,Discrete-time output feedback sliding.mode control for time-delay systems with uncertainty,Proceedings of the 2004 IEEE International Conference on Control Applications,pp.1358-1367,2004.
[84]S.V.Drakunov and V.I.Utkin,Sliding Mode Control in dynamic systems,International Journal of Control,Vol.55,No.4,pp,1029-1037,1992.
[85]V.I.Utkin,Sliding Mode Control in dynamic systems,Proceedings of the 32nd Conference on Declsion and Control,San Antonlo,Texas,pp.2246-2452,December 1993.
[86]Andrzej Bartoszewicz,Discrete-time quasi-sliding-mode control strategies,IEEE Transactions on Industrial Electonics,Vol.45,No.4,pp.633-637,Augest 1998.
[87]X.Chen,Adaptive quasi-sliding-mode control for discrete MIMO systems,TENCON'02.Proceedings.2002 IEEE Region 10 Conference on Computers,Communications,Control and Power Engineering,Vol.3,pp.1343-1346,2002.
[88]K.Furuta,Sliding mode control of a discrete system,Systems & Control Letters,Vol.14,pp.1456-152,1990.
[89]Andrzej Bartoszewicz,Remarks on "discrete-time variable structure control systems",IEEE Transactions on Industrial Electronics,Vol.43,No.1,pp.235-238,1996.
[90]Andrzej Bartoszewicz,A new reaching law for discrete-time variable structure systems,Proceedings of the 36th Conference on Decision & Control,pp.4044-4045,San Diego,California USA,December 1997.
[91]姚琼荟,宋立忠,温洪,离散变结构控制系统的比例-等速-变速控制,控制与决策,第15卷,第3期,329-332页,2000年5月.
[92]于双和,强文义,傅佩琛,无抖振离散准滑模控制,控制与决策,第16卷,第3期,380-382页,2001年5月.
[93]李文林,离散时间系统变结构控制的趋近律问题,控制与决策,第19卷,第11期,1267-1270页,2004年11月。
[94]翟长连,吴智铭,一种离散时间系统的变结构控制方法,上海交通大学学报,第34卷,第5期,719-722页,2000年5月.
[95]马可茂,王子才,张德成,离散时间系统变结构控制的新方法,电机与控制学报,第5卷,第3期,181-184页,2001年9月.
[96]于双和,傅佩琛,强文义,不确定离散时间系统的变结构控制,控制理论与应用,第17卷,第1期,85-88页,2000年2月.
[97]张克勤,苏宏业,庄开宇,褚健,二阶不确定离散系统的时变滑模面变结构控制,浙江大学学报:工学版,第36卷,第4期,416-420页,2002年.
[98]米阳,李文林,井元伟,刘晓平,线性多变量离散系统全程滑模变结构控制,控制与决策,第8卷,第4期,460-463页,2003年.
[99]G.Bartolini,A.Ferrara and V.I.Utkin,Design of discrete-time adaptive sliding mode control,Proceedings of the 31st IEEE Conference on Decision and Control,pp.2387-2391,1992.
[100]V.Utkin,Adaptive discrete-time sliding mode control of infinitedimensional systems,Proceedings of the 37th IEEE Conference on Decision and Control,Vol.4,pp.4033-4038,1998.
[101]G.Monsees and J.M.A.Scherpen,Adaptive switching gain for a discretetime sliding mode controller,Proceedings of the 2000 American Control Conference,Vol.3,pp.1639-1643,2000.
[102]Y.M.Park and W.Kim,Discrete-time adaptive sliding mode power system stabilizer with only input/output measurements,Electrical Power & Energy Systems,Vol.18,No.8,pp.509-517,1996.
[103]A.Filipescu,F.Leite and U.Nunes,Robust discrete-time adaptive sliding mode WMR tracking and parameter identification,Annals of "Dunarea de Jos" University of Galati.Fascicle Ⅲ,Electrotechnics,Electronics,Automatic Control,Informatics,pp.5-13,2004.
[104]C.Y.Chan,Robust discrete quasi-sliding mode tracking controller,Automatica,Vol.31,No.10,pp.1509-1511,1995.
[105]C.Y.Chan,Discrete adaptive sliding mode control of a state-space system with a bounded disturbance,Automatics,Vol.34,No.12,pp.1631-1635,1998.
[106]C.Y.Chan,Discrete adaptive sliding-mode control of a class of stochastic systems,Automatica,Vol.35,No.8,pp.1491-1498,1999.
[107]X.Chen,S.Tsuruoka and T.Hori,Robust discrete quasi-sliding mode adaptive controller,Proceedings of the 35th IEEE Decision and Control,Vol.4,pp.4020-4021,1996.
[108]X.Chen and T.Fukuda,Robust adaptive quasi-sliding mode controller for discrete-time systems,Systems and Control Letters,Vol.35,No.3,pp.165-173,1998.
[109]X.Chen,T.Fukuda and K.D.Young,Adaptive quasi-sliding-mode tracking control for discrete uncertain input-output systems,IEEE Transactions on Industrial Electronics,Vol.48,No.1,pp.216-224,2001.
[110]X.Chen,Adaptive sliding mode control for discrete-time multi-input multioutput systems,Automatica,Vol.42,No.3,pp.427-435,2006.
[111]Katsuhisa Furuta and Yaodong Pan,Discrete-time variable structure control,Variable Structure Systems:Towards the 21st Century,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.274,pp.57-82,2002.
[112]Yaodong Pan and Katsukisa Furuta,Variable structure control systems using sectors for switching rule design,Advances in Variable Structure and Sliding Mode Control,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.334,pp.89-106,2006.
[113]Katsuhisa Furuta and Yaodong Pan,Variable structure control with sliding sector,Automatica,Vol.36,pp.211-228,2000.
[114]Y.Pan and K.Furuta,VSS controller design for discrete-time systems,Proceedings of the IECON'93,International Conference on Industrial Electronics,Control,and Instrumentation,pp.1950-1955,1993.
[115]Y.Pan,K.Furuta and S.Hatakeyama,Invariant sliding sector for variable structure control,Proceedings of the 38th IEEE Conference on Decision and Control,pp,5152-5157,1999.
[116]K.Furuta and Y.Pan,A new approach to design a sliding sector for VSS controller,Proceedings of the American Control Conference,pp.1304-1308,1995.
[117]Y.Pan and K.Furuta,Discrete-time VSS controller design,International Journal of Robust and Nonlinear Control,Vol.7,No.4,pp.373-386,1997.
[118]K.Furuta and Y.Pan,Discrete-time adaptive VSS control system using transfer function,Decision and Control,1993.,Proceedings of the 32nd IEEE Conference on,pp.1434-1439,1993.
[119]Y.Pan,K.Furuta,S.Suzuki and S.Hatakeyama,Design of variable structure controller-from sliding mode tosliding sector,Proceedings of the 39th IEEE Conference on Decision and Control,Vol.2,pp.1685-1690,2000.
[120]K.Abidi,Jian-Xin Xu and Yu Xinghuo,On the discrete-time integral sliding-mode control,IEEE Transactions on Automatic Control,Vol.52,No.4,pp.709-715,2007.
[121]K.Abidi,J.X.Xu and Y.Xinghuo,On the discrete-time integral slidingmode control,International Workshop on Variable Structure Systems,VSS'06,pp.29-34,June 5-7,2006.
[122]Tzuen-Lih Chern,Chin-Wen Chuang and Rong-Lin Jiang,Design of dis-crete integral variable structure control systems and application to a brushless DC motor control,Automatica,Vol.32,No.5,pp.773-779,May 1996.
[123]Tzuen-Lih Chern and Geeng-Kwei Chang,Automatic voltage regulator design by modified discrete integral variable structure model following control,Automatica,Vol.34,No.12,pp.1575-1582,December 1998.
[124]C.Bonivento,M.Sandri and R.Zanasi,Discrete variable-structure integral controllers,Automatica,Vol.34,No.3,pp.355-361,March 1998.
[125]Z.Chen,Z.Zhao,J.Zhang and J.Zeng,Integral variable structure control of uncertain discrete-time systems,Proceedings of the 4th World Congress on Intelligent Control and Automation,pp.892-894,2002.
[126]X.Yu and Z.Man,Model reference adaptive control systems with terminal sliding modes,International Journal of Control,Vol.64,No.6,pp.1165-1176,1996.
[127]S.Janardhanan and B.Bandyopadhyay,On discretization of continuoustime terminal sliding mode,IEEE Transactions on Automatic Control,Vol.51,No.9,1532-1536,2006.
[128]S.Janardhanan,Multirate output feedbackbased discrete-time sliding mode control strategies,Ph.D thesis,IDP in Systems and Control Engineering,Indian Institute of Technology Bombay,2005.
[129]B.Bandyopadhyay and S.Janardhanan,Discrete-time sliding mode control:A multirate output feedback approach,Lecture notes in control and information sciences,Vol.323,2005.
[130]诸静,智能预测控制及其应用,浙江大学出版社,第1版,2002年4月.
[131]C.L.Hwang and C.W.Hsu,Thin and deep hole drilling using a fuzzy discrete sliding mode control with a woodpeckering strategy,Proceedings of the Institution of Mechanical Engineers.Part Ⅰ,Journal of Systems &Control Engineering,Vol.209,No.4,pp.281-292,1995.
[132]D.Sha and V.Bajic,Robust fuzzy discrete sliding mode control based on lyapunovs direct method,Development and Practice of Articial Intelligence Techniques,pp.129-137,IAAMSAD,Durban,South Africa,1999.
[133]Daohang Sha and Vladimir B.Bajic,Robust discrete sliding mode controller enhanced by fuzzy logic block,in Best papers on A.M.S.E.conferences in 1999,A.M.S.E.Press,Prance.
[134]K.J.Emami and M.-R.Akbarzadeh-T.,Adaptive discrete-time fuzzy sliding mode control for anti-lock braking systems,North American Fuzzy Information Processing Society,NAFIPS 2003,22nd International Conference of the,pp.335-340,2003.
[135]Yang Mi,Yuanwei Jing,Design of fuzzy sliding mode controller for SISO discrete-time systems,Journal of Control Theory and Applications,Vol.2,No.3,pp.253-258,2004.
[136]Jie Zhao,Yonggang Yang,Yubin Liu and Fuguo Lin,Discrete sliding mode control with fuzzy adaptive reaching law on 6-PRRS parallel robot,Sixth International Conference on Intelligent Systems Design and Applications,ISDA'06,Vol.2,2006.
[137]F.Q.Q.M.Zhu,A.Winfield and C.Melhuish,Fuzzy sliding mode control for discrete nonlinear systems,Transactions of China Automation Society,Vol.22,No.2,pp.311-315,June 2003.
[138]Yan Zheng,Yuan-wei Jing,Rui-dong Hou and Tao Ren,Discrete-Time Fuzzy Sliding Mode Control of Nonlinear Systems,The Sixth World Congress on Intelligent Control and Automation,WCICA 2006,pp.997-1001,2006.
[139]Y.Zheng,Y.E.Mao and Y.W.Jing,Discrete-time Sliding Mode Control of Nonlinear Systems Based on TS Fuzzy Model,系统仿真学报,Vol.19,No.3,pp.605-611,2007.
[140]Y.Fang and T.W.S.Chow,Synthesis of the sliding-mode neural network controller for unknown nonlinear discrete-time systems,International Journal of Systems Science,Vol.31,No.3,pp.401-408,2000.
[141]Q.Hui and M.Yang,Dynamic neuro-adaptive control for a class of nonlinear discrete-time systems via sliding mode,Proceedings of the 10th Mediterranean Conference on Control and Automation-MED2002,Lisbon,Portugal,July 9-12,2002.
[142]Z.Wang,J.Zhang,Z.Chen and Y.HE,Neural network-based an adaptive discrete-time global sliding mode control scheme,Lecture Notes in Control and Information Sciences,Vol.344,pp.565-570,2006.
[143]Mehmet onder Efe,Discrete time neuro sliding mode control with a taskspecific output error,Neural Computing & Applications,Vol.13,No.3,pp.211-220,2004.
[144]Andon Venelinov Topalov and Okyay Kaynak,Robust neural identification of robotic manipulators using discrete tme adaptive sliding mode learning,Proceedings of the 16th IFAC World Congress,Prague,July 4-8,2005.
[145]Andon Venelinov Topalov and Okyay Kaynak,Discrete-time quasi-sliding mode feedback-error-learning neuro control of a class of uncertain systems,Lecture Notes in Computer Science,MICAI 2005,LNAI 3789,pp.1124-1133,2005.
[146]H.Richter and E.A.Misawa,Boundary layer eigenvalues in observerbased discrete-time sliding mode control,Proceedings of the 2002 American Control Conference,Vol.4,pp.2935-2936,2002.
[147]C.P.Bottura,M.J.Bordon and M.C.M.Teixeira,Discrete time sliding mode realization of observer based control with CMAC,Proceedings of the 10th Mediterranean Conference on Control and Automation-MED2002,Lisbon,Portugal,July 9-12,2002.
[148]E.A.Misawa,Observer-based discrete-time sliding mode control with computational time delay:the linear case,Proceedings of the American Control Conference,Vol.2,pp.1323-1327 1995.
[149]A.Beghi,L.Nardo and M.Stevanato,Observer-based discrete-time sliding mode throttle control for drive-by-wire operationof a racing motorcycle engine,IEEE Transactions on Control Systems Technology,Vol.14,No.4,pp.767-775,2006.
[150]Chunxia Tong,The control system design for ASV via discrete sliding mode control based on disturbance observer,IMACS Multiconference on "Computational Engineering in Systems Applications"(CESA),pp.758-762,Beijing,China,October 4-6,2006.
[151]M.Chakravarthini Saaj,B.Bandyopadhyay and Heinz Unbehauen,A new algorithm for discrete-time sliding-mode control using fast output sampling feedback,IEEE Transactions on Industrial Electronics,Vol.49,No.3,pp.518-523,June 2002.
[152]B.Bandyopadhyay and C.M.Saaj,Algorithm on wbust sliding mode control for discrete-time system using fast output sampling feedback,IEE Proceedings-Control Theory and Applications,Vo.149,No.6,pp.497-503,2002.
[153]T.C.Manjunath,B.Bandyopadhyay,P.Seshu and M.Umapathy,Discrete output feedback sliding mode control of flexible euler-bernoulli based smart structures,Proceedings of ISSS 2005,International Conference on Smart Materials Structures and Systems,pp.SA-163-SA-170,Bangalore,India,July 28-30,2005.
[154]C.M.Saaj and B.Bandyopadhyay,Output feedback sliding mode control for MIMO discrete time systems,Proceedings of the 15th IFAC World Congress,2002.
[155]S.Janardhanan and B.Bandyopadhyay,Robust quasi-sliding mode control of discrete-time systems using multirate output feedback,IEEE International Conference on Industrial Technology,ICIT 2005,pp.331-334,2005.
[156]B.Bandyopadhyay and S.Janardhanan,Multirate output feedback based discrete-time quasi-sliding mode control of time delay systems,Discretetime Sliding Mode Control,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.323,pp.51-70,2006.
[157]S.Janardhanan and B.Bandyopadhyay,Output feedback discrete-time sliding mode control for time delay systems,IEE Proceedings-Control Theory and Applications,Vol.153,No.4,pp.387-396,2006.
[158]B.Bandyopadhyay and S.Janardhanan,Discrete-time sliding mode control using multirate output feedback,Advances in Variable Structure and Sliding Mode Control,Lecture Notes in Control and Information Sciences,Vol.334,pp.351-371,2006.
[159]S.Janardhanan and B.Bandyopadhyay,Multirate output feedback based robust quasi-sliding mode control of discrete-time systems,IEEE Transactions on Automatic Control,Vol.52,No.3,pp.499-503,2007.
[160]Nai One Lai,Christopher Edwards and Sarah K.Spurgeon,On discrete time output feedback sliding mode like control for non-minimum phase systems,Proceedings of 42nd IEEE Conference on Decision and Control,Vol.2,pp.1374-1379,2003.
[161]C.C.Huang and T.T.Tang,Spinline tension control in melt spinning by discrete adaptive sliding-mode controllers,Journal of Applied Polymer Science,Vol.100,No.5,pp.3816-3821,2006.
[162]T.L.Chern,C.S.Liu,C.F.Jong and G.M.Yan,Discrete integral variable structure model following control forinduction motor drivers,IEE Proceedings-Electric Power Applications,Vol.143,No.6,pp.467-474,1996.
[163]T.L.Chern,J.Chang,C.H.Chen and H.T.Su,Microprocessor-based modified discrete integral variable-structurecontrol for UPS,IEEE Trans-actions on Industrial Electronics,Vol.46,No.2,pp.340-348,1999.
[164]G.Venkataramanan and D.M.Divan,Discrete time integral sliding mode control for discrete pulsemodulated converters,Power Electronics Specialists Conference,1990.PESC'90 Record.,21st Annual IEEE,pp.67-73,1990.
[165]P.Phakamach and C.Akkaraphong,Microcontroller-based discrete feedforward integral variable structure control for an uninterruptible power system (UPS),The Fifth International Conference on Power Electronics and Drive Systems,PEDS 2003,pp.1422-1427,2003.
[166]Chih-Lyang Hwang and Yung-Ming Chen,Discrete sliding-mode tracking control of high-displacement piezoelectric actuator systems,Journal of Dynamic Systems,Measurement,and Control,Vol.126,No.4,pp.721-731,2004.
[167]K.G.Sung,Y.M.Han,K.H.Lira and S.B.Choi,Discrete-time fuzzy sliding mode control for a vehicle suspension system featuring an electrorheological fluid damper,Smart Materials and Structures,Vol.16,No.3,pp.798-808,2007.
[168]Xiaoqiu Li and Stephen Yurkovich,Neural network based,discrete adaptive sliding mode control for idle speed regulation in IC engines,Journal of Dynamic Systems,Measurement,and Control,Vol.122,pp.269-275,2000.
[169]Y.P.Chen,J.L.Chang and S.R.Chu,PC-based sliding-mode control applied to parallel-type double inverted pendulum system,Mechatronics,Vol.9,No.5,pp.553-564,1999.
[170]Y.F.Li and J.Wikander,Model reference discrete-time sliding mode control of linear motor precision servo systems,Mechatronics,Vol.14,No.7,pp.835-851,2004.
[171]M.H.Chiang and C.C.Chen and T.Tsou,Large stroke and high precision pneumatic-piezoelectric hybrid positioning control using adaptive discrete variable structure control,Mechatronics,Vol.15,No.5,pp.523-545,2005.
[172]W.C.Wu and T.S.Liu,Frequency-shaped sliding mode control for flying height of pickup head in near-field optical disk drives,IEEE Transactions on Magnetics,Vol.41,No.2,pp.1061-1063,2005.
[173]Wen-Chun Yu and Gou-Jen Wang,Discrete sliding mode controller design based on the LQR suboptimal approach with application on A C servo motor,Journal of the Chinese Institute of Engineers,Vol.29,No.5,pp.873-882,2006.
[174]席裕庚,预测控制,国防科技出版社,北京,1993.
[175]郑尚德,变结构预测控制,信息与控制,第22卷,第6期,347-352页,1993年.
[176]郑尚德,变结构预测控制及其在塑料挤出机温度控制中的应用,测控技术,第18卷,第12期,9-11页,1999年.
[177]徐颖,郑尚德,变结构广义预测控制,中国纺织大学学报,第26卷,第4期,1-3页,2000年8月.
[178]杜海涛,郑尚德,变结构广义预测控制在自调匀整系统中的应用,微计算机信息,第22卷,第10期,66-68页,2006年.
[179]周建锁,刘志远,裴润,一种非线性连续预测变结构控制方案,电机与控制学报,第4卷,第4期,227-229页,2000年.
[180]Jiansuo Zhou,Zhiyuan Liu and Run Pei,Sliding mode model predictive control with terminal constraints,Proceedings of the 3rd World Congress on Intelligent Control and Automation,Vol.4,pp.2791-2795,2000.
[181]Jiansuo Zhou,Zhiyuan Liu and Run Pei,A new nonlinear model predictive control scheme for discrete-time system based on sliding mode control,Proceedings of the 2001 American Control Conference,Vol.4,pp.3079-3084,2001.
[182]周建锁,刘志远,裴润,约束非线性系统的滑模预测控制方法,控制与决策,第16卷,第2期,207-210页,2001年3月.
[183]周建锁,刘志远,裴润,带终端滑模约束的非线性模型预测控制方法,控制与决策,第16卷,第4期,473-475页,2001年7月.
[184]张新,刘兴斌,张军,终端滑模约束的时滞系统模型预测控制,自动化技术与应用,第23卷,第8期,15-17页,2004年.
[185]Jun Zhang,Shu-min Cheng and Biao Wang,Model predictive control for time-delay systems with terminal sliding mode constraints,Fifth World Congress on Intelligent Control and Automation,WCICA 2004,pp.705-708,2004.
[186]刘福才,王娟,石淼,高秀伟,混沌系统的非线性连续预测变结构控制与同步,物理学报,第51卷,第12期,2707-2712页,2002年12月.
[187]刘福才,王娟,石淼,高秀伟,一种基于滑模的广义预测控制新算法,系统仿真学报,第14卷,第10期,1348-1351,1358页,2002年.
[188]刘福才,梁晓明,孙立萍,滑模等式约束的时滞系统广义预测控制,自动化与仪器仪表,第2期,总第124期,4-6,11页,2006年.
[189]雎刚,徐治皋,一种基于变结构的预测控制算法及其应用研究,中国电机工程学报,第21卷,第7期,111-114页,2001年7月.
[190]Oscar Camacho,A predictive approach based sliding mode control,IFAC 15th Triennial World Congress,Barcelona,Spain,2002.
[191]Winston Garcia-Gabin and Eduardo F.Camacho,Sliding mode model based predictive control for nonminimum phase systems,European Control Conference.Cambridge,UK,2003.
[192]Winston Garcia-Gabin,Darine Zambrano and E.F.Camacho,Sliding mode predictive contirol for chemical process with time delay,IFAC 2005.
[193]Chun-mei Liu,Yi Shen,Heng-zhang Hu and Huan-gang Wang,Predictive variable structure control for a class of nonlinear system,Chinese Journal of Aeronautics.Vol.12,No.4,pp.231-235,November 1999.
[194]Mercedes Perez de la Parte and Eduardo F.Camacho,Application of a predictive sliding mode controller to a heat exchanger,Proceedings of the 2002 International Conference on Control Applications,pp.1219-1224,2002.
[195]符建国,曾庆军,谢成祥,黄国建,基于模型预测变结构控制交流伺服系统,电机与控制学报,第7卷,第2期,143-146页,2003年6月.
[196]宋立忠,李红江,陈少昌,滑模预测离散变结构控制用于船-舵伺服系统,中国电机工程学报,第23卷,第11期,160-163页,2003年.
[197]宋立忠,陈少昌,姚琼荟,滑模预测离散变结构控制,控制理论与应用,第21卷,第5期,826-829页,2004年10月.
[198]宋立忠,陈少昌,姚琼荟,多输入离散时间系统滑模预测控制,电机与控制学报,第9卷,第2期,128-132页,2005年3月.
[199]王伟,广义预测控制-理论及其应用,科学出版社,北京,1998年9月.
[200]K.J.Astrom,B.Wittenmark,Adaptive control,Addison Wesley,1995.
[201]Quanser innovate,educate.Coupled water tanks-Specialty experiment:PI-plus-Feedfwward water level control,Quanser innovate,educate.
[202]Y.8.Lu and J.S.Chen,Design of a global sliding-mode controller for a motor drive with bounded control,International Journal of Control,Vol.62,No.5,pp.1001-1019,May 1995.
[203]张科,周凤歧,不确定性多变量系统的全程滑态变结构控制方案设计,控制理论与应用,第16卷,第02期,221-224页,1999年2月.
[204]J.A.Rossiter,J.Sheng,T.Chen and S.L.Shah,Interpretations of and options in dual-rate predictive control,,Journal of Process Control,Vol.15,pp.135-148,2005.
[205]王德进,H_2和H∞优化控制理论,哈尔滨工业大学出版社,第1版,34-36页,哈尔滨,2001年.
[206]宋立忠,李槐树,杨志红,周岗,单值预估离散滑模控制及其应用,控制与决策,第21卷,第7期,829-836页,2006年7月.
[207]Martin Rau and Dierk Schroder,Model predictive control with nonlinear state space models,Proceeding of 7th International Workshop on Advanced Motion Control,pp.136-141,Maribor,Slovenia,July 3-5,2002.
[208]D.Schroder,Intelligent observer and control design for nonlinear systems,Springer Verlag,Berlin Heridelberg,New York,2000.
[209]D.Strobl,U.Lenz and D.Schroder,Systematic design of stable neural observers for a class ofnonlinear systems,Proceedings of the 1997 IEEE International Conference on Control Applications,pp.377-382,1997.
[210]C.Hintz,M.Rau and D.Schroder,Combined identification of parameters and nonlinear characteristicsbased on input-output data,Proceedings of 6th International Workshop on Advanced Motion Control,pp.175-180,2000.
[211]M.Rau and D.Schroder,Compensation of periodic disturbances in continuous processing plants by means of a neural controller,Intelligent Technologies Series,pp.85-106,2002.
[212]D.Schroder,Intelligent computation and nonlinear control,The 29th Annual Conference of the IEEE Industrial Electronics Society,IECON'03,pp.951-956,2003.
[213]A.Bellini,G.Figalli,P.Pinello and G.Ulivi,Realization of a control device for a robotic manipulator based on nonlinear decoupling and sliding mode control,IEEE Transactions on Industry Applications,Vol.25,No.5,pp.790-799,1989.
[214]Karel Jezernik,Boris Curk and Joze Harnik,Observer-based sliding mode control of a robotic manipulator,Robotica,Vol.12,No.5,pp.443-448,1994.
[215]G.Bartolini,M.Coccoli and E.Punta,Sliding mode control of an underwater robotic manipulator,Proceedings of the 39th IEEE Conference on Decision and Control,Vol.3,pp.2983-2988,2000.
[216]P.G.Keleher and R.J.Stonier,Adaptive terminal sliding mode control of a rigid robotic manipulator with uncertain dynamics incorporating constraint inequalities,Anziam Journal,Vol.43,pp.102-153,2002.
[217]B.A.Bazzi and N.G.Chalhoub,Fuzzy sliding mode controller for a flexible single-link robotic manipulator,Journal of Vibration and Control,Vol.11,No.2,pp.295-314,2005.
[218]吴玉香,胡跃明,二阶动态滑模控制在移动机械臂输出跟踪中的应用,控制理论与应用,第23卷,第3期,411-420页,2006年6月.
[219]J.H.Ham and S.B.Choi,New sliding mode controller for robotic manipulator subjected to disturbance and uncertainty,Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,Vol.220,No.6,pp.807-815,2006.
[220]Wen-Shyong Yu and Yuh-Hsin Chen,Decoupled variable structure control design for trajectory tracking on mechatwnic Arms,IEEE Transactions on Control Systems Technology,Vol.13,No.5,pp.798-806,September 2005.
[221]E.F.Camacho and C.Bordons,Model predictive control,Springer,Berlin,1999.
[222]胡寿松,自动控制原理,国防工业出版社,第3版,363-367页,北京,1994.
[223]J.Kim,S.H.Oh,D.Cho and J.K.Hedrick,Robust discrete-time variable structure control methods,ASME Journal of Dynamic Systems Measurement and Control,Vol 122,pp.766-775,August 2000.
[224]J.Kim,H.Kim,J.Lee,D.Cho,Discrete-time variable structure control using modified recursive switching function,Proceedings of the 40th SICE Annual Conference,International Session Papers,pp.182-185,July 25-27,2001.
[225]Shuanghe Yu,Xinghuo Yu,Bijan Shirinzadeh,Zhihong Man,Continuous finite-time control for robotic manipulators with terminal sliding mode,Automatica,Vol 41,pp.1957-1964,2005.
[226]J.J.Slotine and S.S.Sastry,Tracking control of nonlinear systems using sliding surfaces with application to robot manipulator,International Journal of Control.Vol.38,No.2,pp.465-492,February 1983.
[2]高为炳,变结构控制的理论及设计方法,科学出版社,第1版,北京,1996年2月.
[3]姚琼荟,黄继起,吴汉松,变结构控制系统,重庆大学出版社,第1版,重庆,1997年1月.
[4]Jurgen Guldner,Jingxin Shi and Vadim Ivanovitch Utkin,Sliding mode control in electromechanical Systems,CRC Press Technology & Industrial Arts,1999.
[5]Asif Sabanovi,Karel Jezernik and Nadira Sabanovi,Sliding modes applications in power electronics and electrical drives,Variable Structure Systems:Towards the 21st Century,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.274,pp.223-252,2002.
[6]V.Gazi,Swarm aggregations using artificial potentials and sliding-mode control,IEEE Transactions on Robotics,Vol.21,No.6,pp.1208-1214,December 2005.
[7]Asif Sabanovic,Khalid Abidi,Cagdas Onal,Sliding mode control application to nano positioners,Advances in Variable Structure and Sliding Mode Control,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.334,pp.395-421,2006.
[8]周军,冯文剑,基于变结构控制理论的BTT导弹自动驾驶仪的三通道独立设计,宇航学报,第15卷,第1期,42-47页,1994年.
[9]李勇,吴宏鑫,挠性航天器旋转机动的变结构控制,航天控制,第14卷,第1期,19-26页,1996年.
[10]伍言真,丘水生,DC/DCCr开关变换器滑模变结构控制的新方案,电子学报,第28卷,第5期,62-64页,2000年.
[11]孙常胜,陈杰,窦丽华,基于最优化的坦克稳定器滑动模态变结构控制,兵工学报,第22卷,第1期,15-18页,2001年.
[12]王家军,许镇琳,王豪,孟明,基于逆变器死区特性的永磁同步电动机系统的μ-修整变结构控制,中国电机工程学报,第23卷,第4期,148-152页,2003年.
[13]宋军英,刘涤尘,陈允平,异步化同步发电机与同步发电机并联运行的分散变结构控制,中国电机工程学报,第24卷,第6期,172-178页,2004年.
[14]Wu-Chung Su and Ching-Chih Tsai,Discrete-time VSS temperature control for a plastic extrusion process with water cooling systems,IEEE Transactions on Control Systems Technology,Vol.9,No.4,pp.618-623,July 2001.
[15]Chih-Lyang Hwang,Chau Jan and Ye-Hwa Chen,Piezomechanics using intelligent variable-structure control,IEEE Transactions on Industrial Electronics,Vol.48,No.1,pp.47-59,Feburary 2001.
[16]C.Lascu,I.Botdea and F.Blaabjerg,Variable-structure direct torque control -a class of fast and robust controllers for induction machine drives,IEEE Transactions on Industrial Electronics,Vol.51,No.4,pp.785-792,August 2004.
[17]C.Lascu,I.Boldea and F.Blaabjerg,Very-low-speed variable-structure control of sensorless induction machine drives without signal injection,IEEE Transactions on Industry Applications,Vol.41,No.2,pp.591-598,March 2005.
[18]Gujjula,Sushma and Singh,Sahjendra N,Variable Structure Control of Unsteady Aeroelastic System with Partial State Information,Journal of Guidance,Control and Dynamics,Vol.28,No.3,pp.568-573.May 2005.
[19]A.Sivert,B.Nahid,and G.Capolino,Position Control of an Induction Machine Using Variable Structure Control,IEEE/ASME Transactions on Mechatronics,Vol.11,No.3,pp.358-361,2006.
[20]Alan S.I.Zinober,Variable structure and lyapunov control,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.193,1994.
[21]Weibing Gao and James C.Hung,Variable structure control of nonlinear systems:a new approach,IEEE Transactions on Industrial Electronics,Vol.40,No.1,pp.45-55,February 1993.
[22]Vadim.I.Utkin,Variable structure systems with sliding modes,IEEE Transactions on Automatic Control,Vol.AC-22,No.2,pp.212-222,April 1977.
[23]O.M.E.E1-Ghezawi,A.S.I.Zinober and S.A.Billings,Analysis and design of variable structure systems using a geometric approach,International Journal of Control,Vol.38,No.3,pp.657-671,September 1983.
[24]Jean-Jacques E.Slotine,Sliding controller design for non-linear systems,International Journal of Control,Vol.40,No.2,pp.421-434,August 1984.
[25]R.A.DeCarlo,S.H.Zak and G.P.Matthews,Variable structure control of nonlinear multivariable systems:A tutorial,Proceedings of the IEEE,Vol.76,No.3,pp.212-232,March 1988.
[26]Y.Dote and R.G.Hoft,Microprocessor based sliding mode controller for a dc motor drives,Industrial Applications Society Annual Meeting,pp.641-645,Cincinnati,OH,1980.
[27]C.Milosavljevic,General conditions for the existence of a quasisliding mode on the switching hyperplane in discrete variable structure systems,Automatic Remote Control,Vol.46,pp.307-314,May 1985.
[28]S.Sarpturk,S.Y.Istefanopulos and O.Kaynak,On the stability of discretetime sliding mode control systems,IEEE Transactions on Automatic Control,Vol.32,No.10,pp.930-932,October 1987.
[29]U.Kotta,Comments on "On the stability of discrete-time sliding mode control systems",IEEE Transactions on Automatic Control,Vol.34,No.9,pp.1021-1022,September 1989.
[30]S.Sarpturk,S.Y.Istefanopulos,Authors' reply,IEEE Transactions on Automatic Control,Vol.34,No.10,pp.1022,September 1989.
[31]John Y.Hung,Weibing Gao and James C.Hung,Variable structure control:a survey,IEEE Transactions on Industrial Electonics,Vol.40,No.1,pp.2-21,February 1993.
[32]Weibing Gao,Yufu Wang and Abdollah Homaifa,Discrete-time variable structure control systems,IEEE Transactions on Industrial Electonics,Vol.42,No.2,pp.117-122,April 1995.
[33]K.David Young,Vadim I.Utkin and Umit Ozguner,A control Engineer's guide to sliding mode control,IEEE Transactions on Control Systems Technology,Vol.7,No.3,May 1999.
[34]Eric M.Hanczyc and Ahmet Palazoglu,Sliding mode control of nonlinear distributed parameter chemical processes,Industrial & Engineering Chemistry Research,Vol.34,557-566,1995.
[35]L.Qi,Slilding mode control of a class of ITO type distributed parameter systems with delay,Acta Mathematica Scientia,Vol.27,No.1,pp.67-76,2007.
[36]K.Bouyoucef,K.Khorasani and M.Hamerlain,Chattering-alleviated generalized variable structure control for experimental robot manipulators,Proceeding of the Thirty-Eighth Southeastern Symposium on System Theory,pp.152-156,March 5-7,2006.
[37]R.M.Hirachorn,Generalized sliding-mode control for multi-input nonlinear systems,IEEE Transactions on Automatic Control,Vol.51,No.9,pp.1410-1422,2006.
[38]Feng Zheng and Paul M.Frank,Finite dimensional variable structure control design for distributed delay systems,International Journal of Control,Vol.74,No.4,pp.398-408,March 2001.
[39]L.Gang,C.Hong,Q.Shuang and H.Jun,Robust sliding-mode filtering for a class of uncertain nonlinear discrete-time state-delayed systems,自动化学报,Vol.32,No.1,pp.98-102,2006.
[40]Chun-Yi Su and Y.Stepanenko,Adaptive variable structure set-point control of underactuatedrobots,IEEE Transactions on Automatic Control,Vol.44,No.11,pp.2090-2093,November 1999.
[41]F.Fahimi,Sliding-mode formation control for underactuated surface yessels,IEEE Transactions on Robotics,Vol.23,No.3,pp.617-622,2007.
[42]Hebertt Sira-Ramirez,Non-linear discrete variable structure systems in quasi-sliding mode,International Journal of Control,Vol.54,No.5,pp.1171-1187,November 1991.
[43]K.Y.Chang and W.J,Chang,Variable structure controller design with H∞ normand variance constraints for stochastic model reference systems,IEE Proceedings-Control Theory and Applications,Vol.146,No.6,pp.511-516,November 1999.
[44]P.Shi,Y.Xia,G.P Liu,and D.Rees,On designing of sliding-mode control for stochastic jump systems,IEEE Transactions on Automatic Control,Vol.51,No.1,pp.97-103,2006.
[45]K.Konishi,M.Hirai and H.Kokame,Sliding mode control for a class of chaotic systems,Physics Letters A,Vol.245,No.6,pp.511-517,August 1998.
[46]Mohammad Haeri and Amir Abbas Emadzadeh,Synchronizing different chaotic systems using active sliding mode control,Chaos,Solitons & Fractals,Vol.31,No.1,pp.119-129,January 2007.
[47]V.Utkin and Jingxin Shi,Integral sliding mode in systems operating under uncertainty conditions,Proceedings of the 35th Decision and Control,Vol.4,pp.4591-4596,December 11-13,1996.
[48]H.H.Choi,LMI-based sliding surface design for integral sliding mode control of mismatched uncertain systems,IEEE Transactions on Automatic Control,Vol.52,No.4,pp.736-742,2007.
[49]Hebertt Sira-Ramirez,Dynamical sliding mode control strategies in the regulation of nonlinear chemical processes,International Journal of Control,Vol.56,No.1,pp.1-21,1992.
[50]H.Liu and Y.X.Wu,Robust dynamical sliding mode control of a class of nonholonomic systems,2006 International Conference on Machine Learning and Cybernetics,pp.791-796,2006.
[51]A.Levant,Sliding order and sliding accuracy in sliding mode control,International Journal of Control,Vol.58,No.6,pp.1247-1263,1993.
[52]I.Boiko,L.Fridman,A.Pisano and E.Usai,Performance analysis of second-order sliding-mode control systems with fast actuators,IEEE Transactions on Automatic Control,Vol.52,No.6,pp.1053-1059,June 2007.
[53]Xinghuo Yu and M.Zhihong,Multi-input uncertain linear systems with terminal sliding-mode control,Automatica,Vol.34,No.3,pp.389-392,March 1998.
[54]S.Janardhanan and B.Bandyopadhyay,Discrete sliding mode control of systems with unmatched uncertainty using multirate output feedback,IEEE Transactions on Automatic Control,Vol.51,No.6,pp.1030-1035,2006.
[55]G.Bartolini,A.Ferrara and V.I.Utkin,Adaptive sliding mode control in discrete-time systems,Automatica,Vol.31,No.5,pp.769-773,1995.
[56]Siew-Chong Tan,Y.M.Lai,C.K.Tse and M.K.H.Cheung,Adaptive feedforward and feedback control schemes for sliding mode controlled power converters,IEEE Transactions on Power Electronics,Vol.21,No.1,pp.182-192,January 2006.
[57]Tian-Hua Liu and Ming-Tsan Lin,A fuzzy sliding-mode controller design for a synchronous reluctancemotor drive,IEEE Transactions on Aerospace and Electronic Systems,Vol.32,No.3,pp.1065-1076,July 1996.
[58]R.J.Wai,Fuzzy sliding-mode control using adaptive tuning technique,IEEE Transactions on Industrial Electronics,Vol.54,No.1,pp.586-594,2007.
[59]Y.Fang,T.W.S.Chow and X.D.Li,Use of a recurrent neural network in discrete sliding-mode control,IEE Proceedings-Control Theory and Applications,Vol.146,No.1,pp.84-90,January 1999.
[60]Y.Tang,F.Sun and Z.Sun,Neural network control of ftexcible-link manipulators using sliding mode,Neurocomputing,Vol.70,No.3,pp.288-295,2006.
[61]F.J.Lin,P.H.Shen and S.P.Hsu,Adaptive backstepping sliding mode control for linear inductionrnotor drive,IEE Proceedings-Electric Power Applications,Vol.149,No.3,pp.184-194,May 2002.
[62]M.Smaoui,X.Brun and D.Thomasset,Systematic control of an electropneumatic system:Integrator backstepping and sliding mode control,IEEE Transactions on Control Systems Technology,Vol.14,No.5,pp.905-913,2006.
[63]W.C.Wu and T.S.Liu,Sliding mode based learning control for trackfollowing in hard disk drives,Mechatronics,Vol.14,No.8,pp.861-876,October 2004.
[64]X.D.Li,T.W.S Chow,J.K.L.go and H.Z.Tan,Repetitive learning control of nonlinear continuous-time systems using quasi-sliding mode,IEEE Transactions on Control Systems Technology,Vol.15,No.2,pp.369-374,2007.
[65]Hebertt Sira-Ramirez and Michel Fliess,A Dynamical Sliding Mode Control Approach to Predictive Control by Inversion,Proseedings of the 32nd IEEE Conference on Decision and Control,pp.1322-1323,San Antonlo,Texas,Decemeber 1993.
[66]胡剑波,陈新海,反馈线性化系统的非线性预测滑模控制,航空学报,第18卷,第5期,579-582页,1997年9月.
[67]A.E.Rundell,S.V.Drakunov and R.A.DeCarlo,A sliding mode observer and controller for stabilization ofrotational motion of a vertical shaft magnetic bearing,IEEE Transactions on Control Systems Technology,Vol.4,No.5,pp.598-608,September 1996.
[68]Ricardo Aguilar-Lopez and Rafael Maya-Yescas,State estimation for nonlinear systems under model uncertainties:a class of sliding-mode observers,Journal of Process Control,Vol.15,No.3,pp.363-370,April 2005.
[69]C.Edwards,A.Akoachere and S.K.Spurgeon,Sliding-mode output feedback controller design using linear matrix inequalities,IEEE Transactions on Automatic Control,Vol.46,No.1,pp.115-119,January 2001.
[70]S.Janardhanan and B.Bandyopadhyay,Output feedback discrete-time sliding mode control for time delay systems,IEE Proceedings-Control Theory and Applications,Vol.153,No.4,pp.387-396,2006.
[71]胡跃明,变结构控制理论与应用,科学出版社,第1版,北京,2003年1月.
[72]Hoon Lee and Vadim I.Utkin,Chattering analysis,Advances in Variable Structure and Sliding Mode Control,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.334,pp.107-121,2006.
[73]P.Kachroo and M.Tomizuka,Chattering reduction and error convergence in the sliding-modecontrol of a class of nonlinear systems,IEEE Transactions on Automatic Control,Vol.41,No.7,pp.1063-1068,1996.
[74]G.Bartolini,A.Ferrara and E.Usani,Chattering avoidance by secondorder sliding mode control,IEEE Transactions on Automatic Control,Vol.43,No.2,pp.241-246,1998.
[75]G.Bartolini,A.Ferrara,E.Usani and V.I.Utkin,On multi-input chattering-free second-order sliding mode control,IEEE Transactions on Automatic Control,Vol.45,No.9,pp.1711-1717,2000.
[76]L.M.Fridman,An averaging approach to chattering,IEEE Transactions on Automatic Control,Vol.46,No.8,1260-1265,2001.
[77]I.Boiko and L.Fridman,Analysis of chattering in continuous slidingmode controllers,IEEE Transactions on Automatic Control,Vol.50,No.9,1442-1446,2005.
[78]Katsuhiko Ogata著,陈杰,蔡涛,张娟等译 离散时间控制系统(DiscreteTime Control Systems),机械工业出版社,第一版(原书第二版),2006年5月.
[79]Quanser complay,3D Helicopter system(with active disturbance),Quanser innovate,educate.
[80]B.Bandyopadhyay and S.Janardhanan,Discrete-time sliding mode control using multirate output feedback,Advances in Variable Structure and Sliding Mode Control,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.334,pp.351-371,2006.
[81]A.J.Koshkouei and A.S.I.Zinober,Sliding mode control of discrete-time systems,Journal of Dynamic Systems,Measurement and Control,Vol.122,pp.793-802,2000.
[82]S.K.Spurgeon,Hyperplane design techniques for discrete-time variable structure control systems,International Journal of Control,Vol.55,pp.445-456,1992.
[83]S.Janardhanan,B.Bandyopadhyay and V.K.Thakar,Discrete-time output feedback sliding.mode control for time-delay systems with uncertainty,Proceedings of the 2004 IEEE International Conference on Control Applications,pp.1358-1367,2004.
[84]S.V.Drakunov and V.I.Utkin,Sliding Mode Control in dynamic systems,International Journal of Control,Vol.55,No.4,pp,1029-1037,1992.
[85]V.I.Utkin,Sliding Mode Control in dynamic systems,Proceedings of the 32nd Conference on Declsion and Control,San Antonlo,Texas,pp.2246-2452,December 1993.
[86]Andrzej Bartoszewicz,Discrete-time quasi-sliding-mode control strategies,IEEE Transactions on Industrial Electonics,Vol.45,No.4,pp.633-637,Augest 1998.
[87]X.Chen,Adaptive quasi-sliding-mode control for discrete MIMO systems,TENCON'02.Proceedings.2002 IEEE Region 10 Conference on Computers,Communications,Control and Power Engineering,Vol.3,pp.1343-1346,2002.
[88]K.Furuta,Sliding mode control of a discrete system,Systems & Control Letters,Vol.14,pp.1456-152,1990.
[89]Andrzej Bartoszewicz,Remarks on "discrete-time variable structure control systems",IEEE Transactions on Industrial Electronics,Vol.43,No.1,pp.235-238,1996.
[90]Andrzej Bartoszewicz,A new reaching law for discrete-time variable structure systems,Proceedings of the 36th Conference on Decision & Control,pp.4044-4045,San Diego,California USA,December 1997.
[91]姚琼荟,宋立忠,温洪,离散变结构控制系统的比例-等速-变速控制,控制与决策,第15卷,第3期,329-332页,2000年5月.
[92]于双和,强文义,傅佩琛,无抖振离散准滑模控制,控制与决策,第16卷,第3期,380-382页,2001年5月.
[93]李文林,离散时间系统变结构控制的趋近律问题,控制与决策,第19卷,第11期,1267-1270页,2004年11月。
[94]翟长连,吴智铭,一种离散时间系统的变结构控制方法,上海交通大学学报,第34卷,第5期,719-722页,2000年5月.
[95]马可茂,王子才,张德成,离散时间系统变结构控制的新方法,电机与控制学报,第5卷,第3期,181-184页,2001年9月.
[96]于双和,傅佩琛,强文义,不确定离散时间系统的变结构控制,控制理论与应用,第17卷,第1期,85-88页,2000年2月.
[97]张克勤,苏宏业,庄开宇,褚健,二阶不确定离散系统的时变滑模面变结构控制,浙江大学学报:工学版,第36卷,第4期,416-420页,2002年.
[98]米阳,李文林,井元伟,刘晓平,线性多变量离散系统全程滑模变结构控制,控制与决策,第8卷,第4期,460-463页,2003年.
[99]G.Bartolini,A.Ferrara and V.I.Utkin,Design of discrete-time adaptive sliding mode control,Proceedings of the 31st IEEE Conference on Decision and Control,pp.2387-2391,1992.
[100]V.Utkin,Adaptive discrete-time sliding mode control of infinitedimensional systems,Proceedings of the 37th IEEE Conference on Decision and Control,Vol.4,pp.4033-4038,1998.
[101]G.Monsees and J.M.A.Scherpen,Adaptive switching gain for a discretetime sliding mode controller,Proceedings of the 2000 American Control Conference,Vol.3,pp.1639-1643,2000.
[102]Y.M.Park and W.Kim,Discrete-time adaptive sliding mode power system stabilizer with only input/output measurements,Electrical Power & Energy Systems,Vol.18,No.8,pp.509-517,1996.
[103]A.Filipescu,F.Leite and U.Nunes,Robust discrete-time adaptive sliding mode WMR tracking and parameter identification,Annals of "Dunarea de Jos" University of Galati.Fascicle Ⅲ,Electrotechnics,Electronics,Automatic Control,Informatics,pp.5-13,2004.
[104]C.Y.Chan,Robust discrete quasi-sliding mode tracking controller,Automatica,Vol.31,No.10,pp.1509-1511,1995.
[105]C.Y.Chan,Discrete adaptive sliding mode control of a state-space system with a bounded disturbance,Automatics,Vol.34,No.12,pp.1631-1635,1998.
[106]C.Y.Chan,Discrete adaptive sliding-mode control of a class of stochastic systems,Automatica,Vol.35,No.8,pp.1491-1498,1999.
[107]X.Chen,S.Tsuruoka and T.Hori,Robust discrete quasi-sliding mode adaptive controller,Proceedings of the 35th IEEE Decision and Control,Vol.4,pp.4020-4021,1996.
[108]X.Chen and T.Fukuda,Robust adaptive quasi-sliding mode controller for discrete-time systems,Systems and Control Letters,Vol.35,No.3,pp.165-173,1998.
[109]X.Chen,T.Fukuda and K.D.Young,Adaptive quasi-sliding-mode tracking control for discrete uncertain input-output systems,IEEE Transactions on Industrial Electronics,Vol.48,No.1,pp.216-224,2001.
[110]X.Chen,Adaptive sliding mode control for discrete-time multi-input multioutput systems,Automatica,Vol.42,No.3,pp.427-435,2006.
[111]Katsuhisa Furuta and Yaodong Pan,Discrete-time variable structure control,Variable Structure Systems:Towards the 21st Century,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.274,pp.57-82,2002.
[112]Yaodong Pan and Katsukisa Furuta,Variable structure control systems using sectors for switching rule design,Advances in Variable Structure and Sliding Mode Control,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.334,pp.89-106,2006.
[113]Katsuhisa Furuta and Yaodong Pan,Variable structure control with sliding sector,Automatica,Vol.36,pp.211-228,2000.
[114]Y.Pan and K.Furuta,VSS controller design for discrete-time systems,Proceedings of the IECON'93,International Conference on Industrial Electronics,Control,and Instrumentation,pp.1950-1955,1993.
[115]Y.Pan,K.Furuta and S.Hatakeyama,Invariant sliding sector for variable structure control,Proceedings of the 38th IEEE Conference on Decision and Control,pp,5152-5157,1999.
[116]K.Furuta and Y.Pan,A new approach to design a sliding sector for VSS controller,Proceedings of the American Control Conference,pp.1304-1308,1995.
[117]Y.Pan and K.Furuta,Discrete-time VSS controller design,International Journal of Robust and Nonlinear Control,Vol.7,No.4,pp.373-386,1997.
[118]K.Furuta and Y.Pan,Discrete-time adaptive VSS control system using transfer function,Decision and Control,1993.,Proceedings of the 32nd IEEE Conference on,pp.1434-1439,1993.
[119]Y.Pan,K.Furuta,S.Suzuki and S.Hatakeyama,Design of variable structure controller-from sliding mode tosliding sector,Proceedings of the 39th IEEE Conference on Decision and Control,Vol.2,pp.1685-1690,2000.
[120]K.Abidi,Jian-Xin Xu and Yu Xinghuo,On the discrete-time integral sliding-mode control,IEEE Transactions on Automatic Control,Vol.52,No.4,pp.709-715,2007.
[121]K.Abidi,J.X.Xu and Y.Xinghuo,On the discrete-time integral slidingmode control,International Workshop on Variable Structure Systems,VSS'06,pp.29-34,June 5-7,2006.
[122]Tzuen-Lih Chern,Chin-Wen Chuang and Rong-Lin Jiang,Design of dis-crete integral variable structure control systems and application to a brushless DC motor control,Automatica,Vol.32,No.5,pp.773-779,May 1996.
[123]Tzuen-Lih Chern and Geeng-Kwei Chang,Automatic voltage regulator design by modified discrete integral variable structure model following control,Automatica,Vol.34,No.12,pp.1575-1582,December 1998.
[124]C.Bonivento,M.Sandri and R.Zanasi,Discrete variable-structure integral controllers,Automatica,Vol.34,No.3,pp.355-361,March 1998.
[125]Z.Chen,Z.Zhao,J.Zhang and J.Zeng,Integral variable structure control of uncertain discrete-time systems,Proceedings of the 4th World Congress on Intelligent Control and Automation,pp.892-894,2002.
[126]X.Yu and Z.Man,Model reference adaptive control systems with terminal sliding modes,International Journal of Control,Vol.64,No.6,pp.1165-1176,1996.
[127]S.Janardhanan and B.Bandyopadhyay,On discretization of continuoustime terminal sliding mode,IEEE Transactions on Automatic Control,Vol.51,No.9,1532-1536,2006.
[128]S.Janardhanan,Multirate output feedbackbased discrete-time sliding mode control strategies,Ph.D thesis,IDP in Systems and Control Engineering,Indian Institute of Technology Bombay,2005.
[129]B.Bandyopadhyay and S.Janardhanan,Discrete-time sliding mode control:A multirate output feedback approach,Lecture notes in control and information sciences,Vol.323,2005.
[130]诸静,智能预测控制及其应用,浙江大学出版社,第1版,2002年4月.
[131]C.L.Hwang and C.W.Hsu,Thin and deep hole drilling using a fuzzy discrete sliding mode control with a woodpeckering strategy,Proceedings of the Institution of Mechanical Engineers.Part Ⅰ,Journal of Systems &Control Engineering,Vol.209,No.4,pp.281-292,1995.
[132]D.Sha and V.Bajic,Robust fuzzy discrete sliding mode control based on lyapunovs direct method,Development and Practice of Articial Intelligence Techniques,pp.129-137,IAAMSAD,Durban,South Africa,1999.
[133]Daohang Sha and Vladimir B.Bajic,Robust discrete sliding mode controller enhanced by fuzzy logic block,in Best papers on A.M.S.E.conferences in 1999,A.M.S.E.Press,Prance.
[134]K.J.Emami and M.-R.Akbarzadeh-T.,Adaptive discrete-time fuzzy sliding mode control for anti-lock braking systems,North American Fuzzy Information Processing Society,NAFIPS 2003,22nd International Conference of the,pp.335-340,2003.
[135]Yang Mi,Yuanwei Jing,Design of fuzzy sliding mode controller for SISO discrete-time systems,Journal of Control Theory and Applications,Vol.2,No.3,pp.253-258,2004.
[136]Jie Zhao,Yonggang Yang,Yubin Liu and Fuguo Lin,Discrete sliding mode control with fuzzy adaptive reaching law on 6-PRRS parallel robot,Sixth International Conference on Intelligent Systems Design and Applications,ISDA'06,Vol.2,2006.
[137]F.Q.Q.M.Zhu,A.Winfield and C.Melhuish,Fuzzy sliding mode control for discrete nonlinear systems,Transactions of China Automation Society,Vol.22,No.2,pp.311-315,June 2003.
[138]Yan Zheng,Yuan-wei Jing,Rui-dong Hou and Tao Ren,Discrete-Time Fuzzy Sliding Mode Control of Nonlinear Systems,The Sixth World Congress on Intelligent Control and Automation,WCICA 2006,pp.997-1001,2006.
[139]Y.Zheng,Y.E.Mao and Y.W.Jing,Discrete-time Sliding Mode Control of Nonlinear Systems Based on TS Fuzzy Model,系统仿真学报,Vol.19,No.3,pp.605-611,2007.
[140]Y.Fang and T.W.S.Chow,Synthesis of the sliding-mode neural network controller for unknown nonlinear discrete-time systems,International Journal of Systems Science,Vol.31,No.3,pp.401-408,2000.
[141]Q.Hui and M.Yang,Dynamic neuro-adaptive control for a class of nonlinear discrete-time systems via sliding mode,Proceedings of the 10th Mediterranean Conference on Control and Automation-MED2002,Lisbon,Portugal,July 9-12,2002.
[142]Z.Wang,J.Zhang,Z.Chen and Y.HE,Neural network-based an adaptive discrete-time global sliding mode control scheme,Lecture Notes in Control and Information Sciences,Vol.344,pp.565-570,2006.
[143]Mehmet onder Efe,Discrete time neuro sliding mode control with a taskspecific output error,Neural Computing & Applications,Vol.13,No.3,pp.211-220,2004.
[144]Andon Venelinov Topalov and Okyay Kaynak,Robust neural identification of robotic manipulators using discrete tme adaptive sliding mode learning,Proceedings of the 16th IFAC World Congress,Prague,July 4-8,2005.
[145]Andon Venelinov Topalov and Okyay Kaynak,Discrete-time quasi-sliding mode feedback-error-learning neuro control of a class of uncertain systems,Lecture Notes in Computer Science,MICAI 2005,LNAI 3789,pp.1124-1133,2005.
[146]H.Richter and E.A.Misawa,Boundary layer eigenvalues in observerbased discrete-time sliding mode control,Proceedings of the 2002 American Control Conference,Vol.4,pp.2935-2936,2002.
[147]C.P.Bottura,M.J.Bordon and M.C.M.Teixeira,Discrete time sliding mode realization of observer based control with CMAC,Proceedings of the 10th Mediterranean Conference on Control and Automation-MED2002,Lisbon,Portugal,July 9-12,2002.
[148]E.A.Misawa,Observer-based discrete-time sliding mode control with computational time delay:the linear case,Proceedings of the American Control Conference,Vol.2,pp.1323-1327 1995.
[149]A.Beghi,L.Nardo and M.Stevanato,Observer-based discrete-time sliding mode throttle control for drive-by-wire operationof a racing motorcycle engine,IEEE Transactions on Control Systems Technology,Vol.14,No.4,pp.767-775,2006.
[150]Chunxia Tong,The control system design for ASV via discrete sliding mode control based on disturbance observer,IMACS Multiconference on "Computational Engineering in Systems Applications"(CESA),pp.758-762,Beijing,China,October 4-6,2006.
[151]M.Chakravarthini Saaj,B.Bandyopadhyay and Heinz Unbehauen,A new algorithm for discrete-time sliding-mode control using fast output sampling feedback,IEEE Transactions on Industrial Electronics,Vol.49,No.3,pp.518-523,June 2002.
[152]B.Bandyopadhyay and C.M.Saaj,Algorithm on wbust sliding mode control for discrete-time system using fast output sampling feedback,IEE Proceedings-Control Theory and Applications,Vo.149,No.6,pp.497-503,2002.
[153]T.C.Manjunath,B.Bandyopadhyay,P.Seshu and M.Umapathy,Discrete output feedback sliding mode control of flexible euler-bernoulli based smart structures,Proceedings of ISSS 2005,International Conference on Smart Materials Structures and Systems,pp.SA-163-SA-170,Bangalore,India,July 28-30,2005.
[154]C.M.Saaj and B.Bandyopadhyay,Output feedback sliding mode control for MIMO discrete time systems,Proceedings of the 15th IFAC World Congress,2002.
[155]S.Janardhanan and B.Bandyopadhyay,Robust quasi-sliding mode control of discrete-time systems using multirate output feedback,IEEE International Conference on Industrial Technology,ICIT 2005,pp.331-334,2005.
[156]B.Bandyopadhyay and S.Janardhanan,Multirate output feedback based discrete-time quasi-sliding mode control of time delay systems,Discretetime Sliding Mode Control,Lecture Notes in Control and Information Sciences,Springer Berlin/Heidelberg,Vol.323,pp.51-70,2006.
[157]S.Janardhanan and B.Bandyopadhyay,Output feedback discrete-time sliding mode control for time delay systems,IEE Proceedings-Control Theory and Applications,Vol.153,No.4,pp.387-396,2006.
[158]B.Bandyopadhyay and S.Janardhanan,Discrete-time sliding mode control using multirate output feedback,Advances in Variable Structure and Sliding Mode Control,Lecture Notes in Control and Information Sciences,Vol.334,pp.351-371,2006.
[159]S.Janardhanan and B.Bandyopadhyay,Multirate output feedback based robust quasi-sliding mode control of discrete-time systems,IEEE Transactions on Automatic Control,Vol.52,No.3,pp.499-503,2007.
[160]Nai One Lai,Christopher Edwards and Sarah K.Spurgeon,On discrete time output feedback sliding mode like control for non-minimum phase systems,Proceedings of 42nd IEEE Conference on Decision and Control,Vol.2,pp.1374-1379,2003.
[161]C.C.Huang and T.T.Tang,Spinline tension control in melt spinning by discrete adaptive sliding-mode controllers,Journal of Applied Polymer Science,Vol.100,No.5,pp.3816-3821,2006.
[162]T.L.Chern,C.S.Liu,C.F.Jong and G.M.Yan,Discrete integral variable structure model following control forinduction motor drivers,IEE Proceedings-Electric Power Applications,Vol.143,No.6,pp.467-474,1996.
[163]T.L.Chern,J.Chang,C.H.Chen and H.T.Su,Microprocessor-based modified discrete integral variable-structurecontrol for UPS,IEEE Trans-actions on Industrial Electronics,Vol.46,No.2,pp.340-348,1999.
[164]G.Venkataramanan and D.M.Divan,Discrete time integral sliding mode control for discrete pulsemodulated converters,Power Electronics Specialists Conference,1990.PESC'90 Record.,21st Annual IEEE,pp.67-73,1990.
[165]P.Phakamach and C.Akkaraphong,Microcontroller-based discrete feedforward integral variable structure control for an uninterruptible power system (UPS),The Fifth International Conference on Power Electronics and Drive Systems,PEDS 2003,pp.1422-1427,2003.
[166]Chih-Lyang Hwang and Yung-Ming Chen,Discrete sliding-mode tracking control of high-displacement piezoelectric actuator systems,Journal of Dynamic Systems,Measurement,and Control,Vol.126,No.4,pp.721-731,2004.
[167]K.G.Sung,Y.M.Han,K.H.Lira and S.B.Choi,Discrete-time fuzzy sliding mode control for a vehicle suspension system featuring an electrorheological fluid damper,Smart Materials and Structures,Vol.16,No.3,pp.798-808,2007.
[168]Xiaoqiu Li and Stephen Yurkovich,Neural network based,discrete adaptive sliding mode control for idle speed regulation in IC engines,Journal of Dynamic Systems,Measurement,and Control,Vol.122,pp.269-275,2000.
[169]Y.P.Chen,J.L.Chang and S.R.Chu,PC-based sliding-mode control applied to parallel-type double inverted pendulum system,Mechatronics,Vol.9,No.5,pp.553-564,1999.
[170]Y.F.Li and J.Wikander,Model reference discrete-time sliding mode control of linear motor precision servo systems,Mechatronics,Vol.14,No.7,pp.835-851,2004.
[171]M.H.Chiang and C.C.Chen and T.Tsou,Large stroke and high precision pneumatic-piezoelectric hybrid positioning control using adaptive discrete variable structure control,Mechatronics,Vol.15,No.5,pp.523-545,2005.
[172]W.C.Wu and T.S.Liu,Frequency-shaped sliding mode control for flying height of pickup head in near-field optical disk drives,IEEE Transactions on Magnetics,Vol.41,No.2,pp.1061-1063,2005.
[173]Wen-Chun Yu and Gou-Jen Wang,Discrete sliding mode controller design based on the LQR suboptimal approach with application on A C servo motor,Journal of the Chinese Institute of Engineers,Vol.29,No.5,pp.873-882,2006.
[174]席裕庚,预测控制,国防科技出版社,北京,1993.
[175]郑尚德,变结构预测控制,信息与控制,第22卷,第6期,347-352页,1993年.
[176]郑尚德,变结构预测控制及其在塑料挤出机温度控制中的应用,测控技术,第18卷,第12期,9-11页,1999年.
[177]徐颖,郑尚德,变结构广义预测控制,中国纺织大学学报,第26卷,第4期,1-3页,2000年8月.
[178]杜海涛,郑尚德,变结构广义预测控制在自调匀整系统中的应用,微计算机信息,第22卷,第10期,66-68页,2006年.
[179]周建锁,刘志远,裴润,一种非线性连续预测变结构控制方案,电机与控制学报,第4卷,第4期,227-229页,2000年.
[180]Jiansuo Zhou,Zhiyuan Liu and Run Pei,Sliding mode model predictive control with terminal constraints,Proceedings of the 3rd World Congress on Intelligent Control and Automation,Vol.4,pp.2791-2795,2000.
[181]Jiansuo Zhou,Zhiyuan Liu and Run Pei,A new nonlinear model predictive control scheme for discrete-time system based on sliding mode control,Proceedings of the 2001 American Control Conference,Vol.4,pp.3079-3084,2001.
[182]周建锁,刘志远,裴润,约束非线性系统的滑模预测控制方法,控制与决策,第16卷,第2期,207-210页,2001年3月.
[183]周建锁,刘志远,裴润,带终端滑模约束的非线性模型预测控制方法,控制与决策,第16卷,第4期,473-475页,2001年7月.
[184]张新,刘兴斌,张军,终端滑模约束的时滞系统模型预测控制,自动化技术与应用,第23卷,第8期,15-17页,2004年.
[185]Jun Zhang,Shu-min Cheng and Biao Wang,Model predictive control for time-delay systems with terminal sliding mode constraints,Fifth World Congress on Intelligent Control and Automation,WCICA 2004,pp.705-708,2004.
[186]刘福才,王娟,石淼,高秀伟,混沌系统的非线性连续预测变结构控制与同步,物理学报,第51卷,第12期,2707-2712页,2002年12月.
[187]刘福才,王娟,石淼,高秀伟,一种基于滑模的广义预测控制新算法,系统仿真学报,第14卷,第10期,1348-1351,1358页,2002年.
[188]刘福才,梁晓明,孙立萍,滑模等式约束的时滞系统广义预测控制,自动化与仪器仪表,第2期,总第124期,4-6,11页,2006年.
[189]雎刚,徐治皋,一种基于变结构的预测控制算法及其应用研究,中国电机工程学报,第21卷,第7期,111-114页,2001年7月.
[190]Oscar Camacho,A predictive approach based sliding mode control,IFAC 15th Triennial World Congress,Barcelona,Spain,2002.
[191]Winston Garcia-Gabin and Eduardo F.Camacho,Sliding mode model based predictive control for nonminimum phase systems,European Control Conference.Cambridge,UK,2003.
[192]Winston Garcia-Gabin,Darine Zambrano and E.F.Camacho,Sliding mode predictive contirol for chemical process with time delay,IFAC 2005.
[193]Chun-mei Liu,Yi Shen,Heng-zhang Hu and Huan-gang Wang,Predictive variable structure control for a class of nonlinear system,Chinese Journal of Aeronautics.Vol.12,No.4,pp.231-235,November 1999.
[194]Mercedes Perez de la Parte and Eduardo F.Camacho,Application of a predictive sliding mode controller to a heat exchanger,Proceedings of the 2002 International Conference on Control Applications,pp.1219-1224,2002.
[195]符建国,曾庆军,谢成祥,黄国建,基于模型预测变结构控制交流伺服系统,电机与控制学报,第7卷,第2期,143-146页,2003年6月.
[196]宋立忠,李红江,陈少昌,滑模预测离散变结构控制用于船-舵伺服系统,中国电机工程学报,第23卷,第11期,160-163页,2003年.
[197]宋立忠,陈少昌,姚琼荟,滑模预测离散变结构控制,控制理论与应用,第21卷,第5期,826-829页,2004年10月.
[198]宋立忠,陈少昌,姚琼荟,多输入离散时间系统滑模预测控制,电机与控制学报,第9卷,第2期,128-132页,2005年3月.
[199]王伟,广义预测控制-理论及其应用,科学出版社,北京,1998年9月.
[200]K.J.Astrom,B.Wittenmark,Adaptive control,Addison Wesley,1995.
[201]Quanser innovate,educate.Coupled water tanks-Specialty experiment:PI-plus-Feedfwward water level control,Quanser innovate,educate.
[202]Y.8.Lu and J.S.Chen,Design of a global sliding-mode controller for a motor drive with bounded control,International Journal of Control,Vol.62,No.5,pp.1001-1019,May 1995.
[203]张科,周凤歧,不确定性多变量系统的全程滑态变结构控制方案设计,控制理论与应用,第16卷,第02期,221-224页,1999年2月.
[204]J.A.Rossiter,J.Sheng,T.Chen and S.L.Shah,Interpretations of and options in dual-rate predictive control,,Journal of Process Control,Vol.15,pp.135-148,2005.
[205]王德进,H_2和H∞优化控制理论,哈尔滨工业大学出版社,第1版,34-36页,哈尔滨,2001年.
[206]宋立忠,李槐树,杨志红,周岗,单值预估离散滑模控制及其应用,控制与决策,第21卷,第7期,829-836页,2006年7月.
[207]Martin Rau and Dierk Schroder,Model predictive control with nonlinear state space models,Proceeding of 7th International Workshop on Advanced Motion Control,pp.136-141,Maribor,Slovenia,July 3-5,2002.
[208]D.Schroder,Intelligent observer and control design for nonlinear systems,Springer Verlag,Berlin Heridelberg,New York,2000.
[209]D.Strobl,U.Lenz and D.Schroder,Systematic design of stable neural observers for a class ofnonlinear systems,Proceedings of the 1997 IEEE International Conference on Control Applications,pp.377-382,1997.
[210]C.Hintz,M.Rau and D.Schroder,Combined identification of parameters and nonlinear characteristicsbased on input-output data,Proceedings of 6th International Workshop on Advanced Motion Control,pp.175-180,2000.
[211]M.Rau and D.Schroder,Compensation of periodic disturbances in continuous processing plants by means of a neural controller,Intelligent Technologies Series,pp.85-106,2002.
[212]D.Schroder,Intelligent computation and nonlinear control,The 29th Annual Conference of the IEEE Industrial Electronics Society,IECON'03,pp.951-956,2003.
[213]A.Bellini,G.Figalli,P.Pinello and G.Ulivi,Realization of a control device for a robotic manipulator based on nonlinear decoupling and sliding mode control,IEEE Transactions on Industry Applications,Vol.25,No.5,pp.790-799,1989.
[214]Karel Jezernik,Boris Curk and Joze Harnik,Observer-based sliding mode control of a robotic manipulator,Robotica,Vol.12,No.5,pp.443-448,1994.
[215]G.Bartolini,M.Coccoli and E.Punta,Sliding mode control of an underwater robotic manipulator,Proceedings of the 39th IEEE Conference on Decision and Control,Vol.3,pp.2983-2988,2000.
[216]P.G.Keleher and R.J.Stonier,Adaptive terminal sliding mode control of a rigid robotic manipulator with uncertain dynamics incorporating constraint inequalities,Anziam Journal,Vol.43,pp.102-153,2002.
[217]B.A.Bazzi and N.G.Chalhoub,Fuzzy sliding mode controller for a flexible single-link robotic manipulator,Journal of Vibration and Control,Vol.11,No.2,pp.295-314,2005.
[218]吴玉香,胡跃明,二阶动态滑模控制在移动机械臂输出跟踪中的应用,控制理论与应用,第23卷,第3期,411-420页,2006年6月.
[219]J.H.Ham and S.B.Choi,New sliding mode controller for robotic manipulator subjected to disturbance and uncertainty,Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,Vol.220,No.6,pp.807-815,2006.
[220]Wen-Shyong Yu and Yuh-Hsin Chen,Decoupled variable structure control design for trajectory tracking on mechatwnic Arms,IEEE Transactions on Control Systems Technology,Vol.13,No.5,pp.798-806,September 2005.
[221]E.F.Camacho and C.Bordons,Model predictive control,Springer,Berlin,1999.
[222]胡寿松,自动控制原理,国防工业出版社,第3版,363-367页,北京,1994.
[223]J.Kim,S.H.Oh,D.Cho and J.K.Hedrick,Robust discrete-time variable structure control methods,ASME Journal of Dynamic Systems Measurement and Control,Vol 122,pp.766-775,August 2000.
[224]J.Kim,H.Kim,J.Lee,D.Cho,Discrete-time variable structure control using modified recursive switching function,Proceedings of the 40th SICE Annual Conference,International Session Papers,pp.182-185,July 25-27,2001.
[225]Shuanghe Yu,Xinghuo Yu,Bijan Shirinzadeh,Zhihong Man,Continuous finite-time control for robotic manipulators with terminal sliding mode,Automatica,Vol 41,pp.1957-1964,2005.
[226]J.J.Slotine and S.S.Sastry,Tracking control of nonlinear systems using sliding surfaces with application to robot manipulator,International Journal of Control.Vol.38,No.2,pp.465-492,February 1983.