Method for Removing Reaching Phase in Variable Structure Systems Using Time varying Switching Function

摘要

PURPOSE: A reaching phase removal apparatus of a variable scheme control system using a time variable switching function is provided, which stabilizes states of hierarchy by removing the reaching phase of the hierarchy fundamentally by generating a sliding motion through a whole control process. CONSTITUTION: Adders(7,8) generate output signals by receiving a reference input signal to make the state of a hierarchy converge to an origin stably along a sliding plane. A system(9) comprises system parameters, a differentiator(d/dt) and an integrator. A time variable switching plane(12) removes a reaching phase by generating the sliding motion from an initial position by being connected to the system. A comparator(11) comprises a signum function making the state arrive at the plane stably, and control parts(12,13) comprises a switching gain and an adder(10). An error signal(x1) is a difference between the reference input signal and an output signal of the hierarchy, and an error signal(x2) is a first order derivative of the error signal(x1).