Vol.2, No 9, 1999 pp. 983-994
UDC: 62-52
DISCRETE-TIME
VARIABLE STRUCTURE
CONTROL SYSTEMS
- MULTIVARIABLE
LINEAR PLANT CASE -
Zoran M. Bučevac
Mechanical Engineering Department, University
of Belgrade
Abstract. Linear time-invariant discrete
digital plant, with no restrictions on the form of the state equation and
the number of controls, is considered. The stabilizing state feedback control
algorithm is developed by Lyapunov's second method leading to the variable
structure system with sliding modes. Essentially the control algorithm
drives the system from an arbitrary initial state to a prescribed so-called
sliding subspace S, in finite time. Inside the sliding subspace S the system
is switched to the sliding mode regime and stay in it for ever.
Keywords: Discrete-time digital
system, variable structure systems, Lyapunov's second method, sliding mode
DIGITALNI
SISTEMI AUTOMATSKOG UPRAVLJANJA PROMENLJIVI STRUKTURE
- SLUČAJ MULTIVARIJABILNOG
LINEARNOG OBJEKTA -
Razmatra se linearni stacionarni diskretni
digitalni objekt bez ograničenja na oblik njegove jednačine stanja i broj
upravljanja. Razvijen je stabilizirajući algoritam upravljanja sa povratnom
spregom po stanju pomoću Ljapunovljeve Druge metode koji daje sistem promenljive
strukture sa kliznim radnim režimom. Ovaj algoritam upravljanja obezbeđuje
da se stanje sistema kreće iz proizvoljnog početnog položaja do propisanog
takozvanog podprostora klizanja S, za konačno vreme. Unutar podprostora
klizanja S sistem prelazi u klizni radni režim i u njemu ostaje zauvek.
