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针对含有匹配有界干扰的线性离散系统,提出一类最优积分滑模控制算法.在系统开环极点位于单位圆内(上)的前提下,考虑输入饱和,可以实现系统状态的半全局稳定.该算法是低增益反馈和积分滑模的有益结合,通过低增益反馈使输入饱和得到满足,通过滑模控制增强了系统对干扰的鲁棒性;另外,该算法可以使特定的性能指标达到最优,使系统稳态误差达到O(T~2)的量级.仿真结果验证了所提出算法的有效性.
Aiming at the linear discrete system with matching bounded disturbance, a class of optimal integral sliding mode control algorithm is proposed. Under the premise of the system open-loop pole located in the unit circle (above), considering the input saturation, the semi-global stability of the system state can be achieved The algorithm is a beneficial combination of low gain feedback and integral sliding mode, which satisfies the input saturation through low gain feedback and enhances system robustness to interference through sliding mode control. In addition, this algorithm can achieve certain performance index Which makes the system steady error reach the order of O (T ~ 2) .The simulation results verify the effectiveness of the proposed algorithm.