Discrete Sliding Mode Repetitive Control with Novel Reaching Law
用于离散滑模重复控制的新型趋近律

This paper is concerned with discrete-time sliding mode control of systems subject to periodic inputs and disturbances. A novel reaching law is proposed, and a design of discrete-time sliding mode repetitive controller is presented based on the ideal switching dynamics formed by the reaching law. The switching dynamics are required to avoid system chattering and achieve perfect tracking as the periodic disturbances are rejected completely. In order to characterize both the reaching phase and quasi-sliding mode, the attractive layer bound, monotone decreasing region, and quasi-sliding mode band of the switching dynamics are derived theoretically. Numerical simulation and experiment are carried out to verify the feasibility and effectiveness of the proposed control method.