| Summary: | 碩士 === 大同大學 === 電機工程學系(所) === 100 === For a class of uncertain nonlinear discrete-time multi-input-multi-output (MIMO) systems, this thesis presents an integral-type sliding mode control (ISMC) method to deal with the control problem. First, a robust observer is used to estimate unknown states of the controlled system. Next, the reaching condition and the sliding condition of the system behavior can be satisfied by the proposed control law based on the integral-type sliding surface. Moreover, some adaptive laws are introduced to estimate the upper bounds of the unknown uncertainties. By the Lyapunov theory, the presented integral sliding mode control not only guarantees the robust stability of the overall closed-loop system, but also achieves the precision estimation. The feasibility of the proposed method will be confirmed by computer simulation in this thesis.
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