Vol.2, No 7, 1997 pp. 301 - 314
UDC 62-504
VARIABLE STRUCTURE SYSTEMS OF QUASI RELAY TYPE WITH PROPORTIONAL-INTEGRAL ACTION
Čedomir Milosavljević
University of Niš, Faculty of Electronic Engineering

Abstract. Three variants of using the proportional-integral action in the variable structure systems of quasi relay type are considered in this paper. Their characteristics  in respect to reaching and sliding mode conditions, accuracy in the steady-state, forms of produced control signals, its influence to chattering generation as well as capabilities of load disturbance rejection are analyzed. Some examples which satisfy theoretical  conclusions are given.
Key words: Automatic control, nonlinear systems, variable structure systems, sliding mode, proportional-integral action. 
SISTEMI PROMENLJIVE STRUKTURE  KVAZI-RELEJNOG TIPA SA PROPORCIONALNO-INTEGRALNIM DELOVANJEM
Razmatraju se tri varijante primene proporcionalno-integralnog delovanja u  sistemima promenljive strukture sa kvazi-relejnim zakonom upravljanja. Analiziraju se njihove karakteristike u pogledu uslova nastanka i održanja kliznog režima, tačnosti u stacionarnom stanju, oblika signala upravljanja koji generišu na ulazu objekta upravljanja, njegov uticaj na  pojavu kliktanja, kao i  mogućnosti rada u uslovima delovanja opterećenja. Daju se primeri koji potvrđuju teorijske zaključke.