针对定常采样过程中非完整链式系统的镇定问题,提出了2个反馈控制律.首先通过对连续模型的积分运算,得到了零阶保持器下非完整链式系统的离散模型,然后利用坐标变换,将其转换为2个线性子系统的形式,并提出了2种反馈镇定控制律:时不变反馈控制律和时变反馈控制律,分别实现了对离散非完整链式系统的局部和全局镇定.仿真实验表明所提反馈控制律是行之有效的.在它们的作用下,离散非完整链式系统能从任意的初始状态指数收敛到原点,并且通过改变反馈控制律的参数能改变系统各状态的收敛速度. In order to solve the problem of stabilization of nonholonomic chained systems in the process of regular sampling, two feedback control laws are proposed.First, by integrating the continuous models, the discrete model of the nonholonomic chained systems under zero order retainer is obtained, Transform them into two linear subsystems, and propose two kinds of feedback stabilization control laws: time invariant feedback control law and time-varying feedback control law, respectively, to achieve the discrete and non-chained system partial and The global stability.The simulation results show that the proposed feedback control law is effective.The discrete nonholonomic chained system can converge to the origin from arbitrary initial state index and can change by changing the parameters of the feedback control law The convergence rate of the system state.