Analysis and Design of Variable Structure Systems Using a Geometric Approach

摘要

Multivariable variable structure nonlinear systems in the sliding mode are studied using a geometric approach. The properties of system order reduction and disturbance rejection are proved using projector theory. It is shown that Drazenovic's invariance conditions are a special case. The physical interpretation of invariance is given. The invariance of the system zeros in the sliding mode is investigated. Design methods for the choice of switching hyperplanes are derived for the closed-loop eigenvalue/eigenvector assignment problem.