Discrete-time modified repetitive sliding mode control for uncertain linear systems

摘要

This article presents a design strategy and stability analysis of modified repetitive sliding mode controller for uncertain linear systems. A modified repetitive controller is adopted to simultaneously track and reject periodic signals. A discrete-time sliding mode controller is combined to compensate the slow response of repetitive control and to provide robustness against plant parameters uncertainties. Stability analysis is provided to prove boundedness of the proposed control law and the convergence of sliding function and the tracking error. Comparative simulation results demonstrate that the proposed method is able to accurately track reference signal and to reject disturbance with fast transient response. The results also indicate that the closed-loop system remains stable in the presence of plant parameter changes.