DESIGN METHOD OF SLIDING MODE CONTROL SYSTEM AND DESIGN SUPPORT DEVICE THEREOF

摘要

PROBLEM TO BE SOLVED: To provide a simple design method of a sliding mode control system which includes a state feedback gain obtaining means, and a computing means for computing a hyperplane vector and a proportional transmission gain.;SOLUTION: The design method of a sliding mode control system (10) includes an equivalence controller (11) which computes an equivalence control input (u₁); a proportion attainment controller (13) which computes a control input (u₂) which is proportional to a value of a switching function (σ); a nonlinear controller (14) which computes a nonlinear control input (u₃) to a state of control object which is determined, based on the switching function (σ); and an adder (15) which computes a control input (u) by adding three control inputs (u₁, u₂ and u₃). The control method includes a step for computing a state feedback gain (F_c), when controlling a control object by a linear control system; and a design step for designing the equivalence controller (11) and the proportion attainment controller (13), assuming that the control input derived by a state feedback gain (F_c) is equal to the sum total of the control input (u₁) and control input (u₂).;COPYRIGHT: (C)2011,JPO&INPIT