DESIGN OF TYPE l SERVOMECHANISM USING SLIDING MODE CONTROL.

被引：0
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作者：
Hikita, Hiromitsu
Kawashima, Yoshinobu
机构：
来源：
Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C | 1988年 / 54卷 / 497期
关键词：
CONTROL SYSTEMS - Design - DYNAMICS;
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摘要：
A design method for sliding-mode servomechanisms of type l is proposed. 'Type l' is achieved by extended sliding-mode control which realizes type l and a feedforward dynamic compensator of order l-1. The extended sliding-mode control theory is applied to an augmented system which is constructed by a given system and a dynamic compensator of order 1. The closed loop poles can arbitrarily be assigned by suitable design of the gains of the dynamic compensators and the coefficients of a sliding surface equation. The derived sliding-mode servomechanisms are invariant with respect to disturbances, parameter variations, and nonlinearity.
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页码：183 / 188
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