变结构系统的递阶切换模式

 本文研究关于线性多变量变结构系统的递阶切换模式及其切换函数c与变结构控制u（x,s）的设计问题。文中提出了两种递阶一切换模式，并按模式的到达条件及对滑动模态的极点配置的原则给出了各种情况下切换函数及变结构控制的设计方法。此种模式的最大优点是系统的控制容许失误。

ON TWO SORTS OF HIERARCHICAL SWITCHING SCHEME OF VARIABLE STRUCTURE SYSTEMS(VSS)

In this paper two sorts of hierarchical switching scheme for the variable structure control(VSC) of linear multivariable systems-the scheme in the fixed order and the scheme in the selected order, are suggested and the problems of their design methods are put forward. According to the reaching condition of the trajectories of VSS and the principle of Pole assignment of systems, the method on design of the switching functions and VSC of the systems in the two schemes are given respectively. The results have shown us that these design methods lead to a great simplification of the control law. The important practical features of the hierarchical switching scheme are that the VSS with this scheme in fixed order have the capability of fault tolerance; while the time of reaching the switching plane of the trajectories of the VSS with this scheme in selected order is reduced hence more adaptability of the systems is obtained.