すべり状態, 擬すべり状態を用いたサーボ系の構成

抄録

A method for designing a servomechanism using sliding mode is considered. This servomechanism of which the input-output relation is given by a transfer function is insensitive with respect to disturbances, parameter variations, and nonlinearity. The structure of this servomechanism satisfies the internal model principle. A servo-mechanism is also given which is obtained by quasi-sliding mode based on a continuous control law to avoid chattering. The properties of errors due to the application of the continuous control law are further investigated. It is shown that the design of the servomechanisms can easily extended to that of multivariable servomechanisms. An example is given in order to illustrate the efficiency of the proposed design method.