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		Lingfei XIAO,Hongye SU,Xiaoyu ZHANG,Jian CHU.[en_title][J].Control Theory and Technology,2006,4(2):140~146.[Copy]

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LingfeiXIAO,HongyeSU,XiaoyuZHANG,JianCHU
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Received:September 30, 2005Revised:December 25, 2005

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Variable structure control with sliding mode prediction for discrete-time nonlinear systems

Lingfei XIAO, Hongye SU, Xiaoyu ZHANG , Jian CHU

(National Laboratory of Industrial Control Technology, Institute of Advanced Process Control, Zhejiang University, Hangzhou Zhejiang 310027,China)

Abstract:

A new variable structure control algorithm based on sliding mode prediction for a class of discrete-time nonlinear systems is presented. By employing a special model to predict future sliding mode value, and combining feedback correction and receding horizon optimization methods which are extensively applied on predictive control strategy, a discrete-time variable structure control law is constructed. The closed-loop systems are proved to have robustness to uncertainties with unspecified boundaries. Numerical simulation and pendulum experiment results illustrate that the closed-loop systems possess desired performance, such as strong robustness, fast convergence and chattering elimination.

Key words: Variable structure control Sliding mode prediction Discrete-time nonlinear system Pendulum experiment