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提出一种新的变结构控制平滑方法，能够对系统的稳态误差作出定量的描述，并且给出变结构控制系统的稳态误差指标与饱和特性宽度之间定量的数学关系，通过系统的稳态误差指标，可以设计出用于平滑变结构控制系统抖振的宽度变化的饱和特性，从而既平滑了系统的抖振又满足了对系统稳态误差指标的要求，仿真结果验证了该方法的有效性。
A new method of variable structure control smoothing is proposed, which can quantitatively describe the steady-state error of the system and give a quantitative mathematical relationship between the steady-state error index and the width of the saturated characteristic of the variable structure control system. Which can not only smooth the chattering of the system but also meet the requirements for the steady-state error index of the system. The simulation results verify that the proposed method Effectiveness.