sliding mode control survey 23 jun 12
TRANSCRIPT
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
1/68
D Z_]RO\
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
2/68
Z\ZSON JKHS]KI NOSEKCZ FOHO]DII\LHJK]QK]DSO ZKNO S\QO KBCLZS_]MDHJO VDROBK]N NKCOILHF(
JKHZLCO]LHF SEDS SEO CLZS_]MDHJOVDROBK]N LZ JKNQIOSOI\ _H@HKVH)D CLZS_]MDHJO JED]DJSO]LWDSLKH KBSEO VDROBK]N LZ DZZ_NOC(
SELZ DZZ_NQSLKH LZ _Z_DII\ NDCO KHD VK]ZS JDZO MDZLZ SK OHZ_]OZSDMLILS\ KB SEO SD]FOSOC Z\ZSON(
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
3/68
JIDZZLJDI DHC NKCO]H JKHS]KI SEOK]\LHJK]QK]DSOZ VDROBK]NJED]DJSO]LWDSLKH KB CLZS_]MDHJOZ VLSEDHC VLSEK_S VDROBK]N ZS]_JS_]O(
NKCO]H JKHS]KI SEOK]\ LZ JOHSO]OCD]K_HC NKCOILHF SEO CLZS_]MDHJO SKOLSEO] JKNQIOSOI\ ]OGOJS) NLHLNLWO) K] SKOROH _SLILWO SEO CLZS_]MDHJO LH
JKHS]KIILHF Z\ZSON MOEDRLK]( LH DII KB SEOZO JL]J_NZSDHJOZ LS LZ
HOJOZZD]\ SK NKCOI SEO VDROBK]N(
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
4/68
ZILCLHF NKCO JKHS]KI CKOZ HKS ]OT_L]O DCLZS_]MDHJO VDROBK]N JED]DJSO]LWDSLKHSK LNQIONOHS SEO JKHS]KI IDV(
SEO NDLH DCRDHSDFO KB ZILCLHF NKCOJKHS]KI %ZNJ, LZ SEO ]KM_ZSHOZZ SK_H@HKVH CLZS_]MDHJOZ(
]OT_L]OC @HKVIOCFO KB SEO CLZS_]MDHJOLZ ILNLSOC SK SEO CLZS_]MDHJO MK_HCD]\(
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
5/68
S]DCLSLKHDI ZNJ VDZ) EKVORO]) ILNLSOC M\D CLZJKHSLH_K_Z JKHS]KI IDV(
COQOHCLHF KH SEO QIDHS C\HDNLJZ) ELFEB]OT_OHJ\ ZVLSJELHF ND\ K] ND\ HKS MODH LZZ_O SK JKHSOHC VLSE(
SEO]O D]O SOJEHLT_OZ SK ILNLS DHCOILNLHDSO SEO ELFE.B]OT_OHJ\ ZVLSJELHFDZZKJLDSOC VLSE S]DCLSLKHDI ZNJ(
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
6/68
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
7/68
D FOHO]DI COZLFH NOSEKC MOLHFOUDNLHOC BK] D VLCO ZQOJS]_N KBZ\ZSON S\QOZ LHJI_CLHF HKHILHOD] Z\ZSONZ)
N_ISL.LHQ_S+N_ISL.K_SQ_S Z\ZSONZ) CLZJ]OSO.SLNO NKCOIZ)
ID]FO.ZJDIO DHC LHBLHLSO.CLNOHZLKHDIZ\ZSONZ) DHC
ZSKJEDZSLJ Z\ZSONZ
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
8/68
SEO NKZS CLZSLHF_LZEOC BODS_]O KB RZJ LZ LSZDMLILS\ SK ]OZ_IS LH RO]\ ]KM_ZS JKHS]KIZ\ZSONZ
SEO Z\ZSON LZ JKNQIOSOI\ LHZOHZLSLRO SKQD]DNOS]LJ _HJO]SDLHS\ DHC OUSO]HDICLZS_]MDHJOZ K] LHRD]LDHS(
SEO ZILCLHF NKCO %ZNJ, LZ SEO NDGK] NKCO KB
KQO]DSLKH LH RD]LDMIO ZS]_JS_]O Z\ZSONZ(
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
9/68
Z_]RO\ QDQO]Z
R( L( _S@LH) RD]LDMIO ZS]_JS_]O Z\ZSONZ VLSEZILCLHF NKCOZ) LOOO S]DHZ( D_SKNDS( JKHS]() RKI(DJ.==) QQ( =4====) 4
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
10/68
]OZOD]JE QDQO]Z
LZZ_OZ ZS_CLOC LHJI_CO OULZSOHJO KB SEO ZILCLHF NKCO
ZSDMLILS\ KB SEO ZILCLHF NKCO OBBOJSZ KB Z\ZSON QD]DNOSO] QO]S_]MDSLKHZ
DHC K_SZLCO CLZS_]MDHJOZ DHC ZS_C\ KB Z\ZSONZ EDRLHF _HNODZ_]DMIO
ZSDSO RD]LDMIOZ(
P:^ Gkeh \( Euhf) Volmlhf Fdk) Gdnoz J( Euhf) Rd}ldmio Zs}ujsu}o Jkhs}ki7 D Zu}ro| LOOOS]DHZDJSLKHZ KH LHC_ZS]LDI OIOJS]KHLJZ) RKI( 31) HK( 4) BOM]_D]\ 4
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
11/68
COZLFH KB RZJ
JEKKZLHF D ZOS KB ZVLSJELHF Z_]BDJOZ
SEDS ]OQ]OZOHS ZKNO ZK]S KB D COZL]OCNKSLKH
COZLFHLHF D CLZJKHSLH_K_Z JKHS]KIIDV Z_JE SEDS SEO Z\ZSON
S]DGOJSK]LOZ D]O JKHBLHOC SK SEOZVLSJELHF Z_]BDJOZ
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
12/68
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
13/68
ZEK]SJKNLHFZ KB ZNJ K] CLBBLJ_ISLOZLH D]]LRLHF DS DH LCODI ZILCLHF
NKCO
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
14/68
LHS]KC_JSLKH JIDZZLBLJDSLKH
JEDSSO]LHF Q]KMION LH ZNJ DHC]ONOCLOZ
]ODJELHF QEDZO DHC LSZ OILNLHDSLKH HOOC BK] MK_HCZ KB _HJO]SDLHS\ .
DCDQSLRO JKHS]KI
HOOC BK] B_II ZSDSO ROJSK] DHC _ZO KB
KMZO]RO]
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
15/68
LHRD]LDHJO DHC NDSJELHF JKHCLSLKHZ SLNO COID\ JKHS]KI DHC LHO]SLDI COID\
JKHS]KI
J_]]OHS COROIKQNOHSZ LH ZNJ
DQQILJDSLKHZ JKHJI_ZLKH
]OBO]OHJOZ
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
16/68
NKCOZ
JKHSLH_K_Z.SLNO ZILCLHF NKCO
CLZJ]OSO SLNO ZILCLHF NKCO DHC ZDNQIOC CDSD ZILCLHF NKCO
P:^ @( Cdrlc \kuhf) Rdcln L( _s`lh) _nls Kwfuho}) D Jkhs}ki Ohflhoo}zFulco sk Zilclhf Nkco Jkhs}ki) LOOO S]DHZDJSLKHZ KH JKHS]KI Z\ZSONZ
SOJEHKIKF\) RKI( 6) HK( :) ND\ 4
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
17/68
NOSEKCZ
JKHROHSLKHDI ZILCLHF Z_]BDJO VLSEK] VLSEK_S NKCOI BKIIKVLHF(
Z
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
18/68
C\HDNLJ ZILCLHF Z_]BDJO VLSE K]VLSEK_S NKCOI BKIIKVLHF(
S
S S
d
M w
w M D M u
%1, %1,Sw M
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
19/68
C_]LHF SEO LHLSLDI ZSDFOZ KB ZILCLHFNKCO JKHS]KI SEOK]\ COROIKQNOHS)JEDSSO]LHF VDZ SEO NDLH KMZSDJIOBK] LSZ LNQIONOHSDSLKH
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
20/68
JEDSSO]LHF LZ D ED]NB_IQEOHKNOHKH
IODCZ SK IKV JKHS]KI DJJ_]DJ\
ELFE VOD] KB NKRLHF NOJEDHLJDI QD]SZ ELFE EODS IKZZOZ LH QKVO] JL]J_LSZ(
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
21/68
SVK ]ODZKHZ
C_O SK BDZS K] _HNKCOIOC C\HDNLJZ
ZVLSJELHF COID\Z K] CLZJ]OSLZDSLKH
JEDSSO]
zfh% ,hu ZM
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
22/68
]ONOCLOZ
MK_HCD]\ ID\O] JKHS]KI P:^(
Z_QO] SVLZS COZLFH KMZO]RO] MDZOC ZNJ P?^ P2^(
CLZS_]MDHJO JKNQOHZDSLKH P6^(
DJS_DSK] MDHCVLCSEZ P5^ P
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
23/68
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
24/68
LS EDZ MOOH ZEKVH %HKS LH SELZ M]LOB, SEDS SEOZKI_SLKH SK SEO BKIIKVLHF CLBBO]OHSLDIOT_DSLKH
DHC LSZ CO]LRDSLRO JKHRO]FO SK WO]K LH BLHLSOSLNO LB
)
KH SELZ MDZLZ u LZ LHS]KC_JOC DZ7
czlfhzlfhu ,%,%=+4
I=+4 I3 Is ,%
,%,%,%=+4
scwzlfhwzlfhww
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
25/68
Z_QO]SVLZS _SLILWOZ SEO ZDNO ZILCLHFZ_]BDJO DHC RDI_OZ DZ SEO S]DCLSLKHDIZNJ( SEO ZLFH_N JKHS]KI B_HJSLKH LZ]OQIDJOC VLSE SEO B_HJSLKH7
czlfhzlfhu ,%,%=+4
I=+4 I3
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
26/68
(,%
,:%,,%%,,%%
7|loicz,%vlse
hfzumzslsusldhcOt%=,kblhotudils|seosk%4,Ot(Dqqi|lhf
%=,1)
%4,,%
,%7|loiczzkirlhfdhclhskhfzumzslsusldhcdslhfClbbo}ohsl
7bkiikvzdz
cozlfhoclzdhcdzlhs}kcujoclzrd}ldmiozilclhfdulild}|hovD
1 44
IdhcIveo}o
zvzlfhIzvzzz
zvzlfhI
zzz
vz
vrrwzwz
vrwdhcwz
z
,%dhc r) @r.@r
r veo}o,%r)mu) mu,%
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
27/68
,(%kmsdlhbliso} skqdzz.ikvdkbnodhzm|bliso}
skhojozzd}|lzlskbzvlsjelhfb}otuohj|.elfeseo}onkroSk
,(%dhc1zu}bdjozilclhflh seonkcozilclhfseokbolzsdhjo
lhcljdsozveljeOt(%:,dzzdnoseolzvelje,zz%,,%z%
seoh,%
,,%%,,%%
seoh
%3,
7dzzoiojsoclzZNJLb
ot
vv
v
vz
zzv
z,zlfh%z,,%Iz%
zzlfh,zlfh%z,I.%Iz,zlfh%z,.%Iz
,zlfh%z,.%Iv
v
ot
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
28/68
S]DCLSLKHDI ZNJ( ELFE B]OT_OHJ\ ZVLSJELHF JKHS]KIIO]( ZLNQIO JKHS]KIIO] COZLFH( ELFE T_DILS\ JKHS]KI(
Z_QO]SVLZS
JKHSLH_K_Z JKHS]KI B_HJSLKH( JKHS]KIIO] LZ NK]O JKNQIOU( ELFE T_DILS\ JKHS]KI(
CLZS_]MDHJO ZNJ C]LROH M\ ZNJ KMZO]RO] JKHSLH_K_Z JKHS]KIIO](
NK]O JKNQIOU SEDH Z_QO]SVLZS( RO]\ ELFE T_DILS\ JKHS]KI(
DII ZNJ COZLFHZ Q]KRLCOC ELFE T_DILS\ KBJKHS]KI VLSEK_S CLZS_]MDHJO VDROBK]NNKCOILHF(
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
29/68
NKSLKH KB D RZJ Z\ZSON
SVK QEDZOZ
]ODJELHF QEDZO %QT,
ZILCLHF QEDZO %TK,
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
30/68
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
31/68
]ONOCLOZ
ZEK]SOH SEO C_]DSLKH K]
OILNLHDSO SEO ]ODJELHF QEDZO
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
32/68
DZZ_NQSLKH7 _HJO]SDLHSLOZ D]O MK_HCOC DHC SEOL]MK_HCZ D]O DRDLIDMIO SK SEO COZLFHO]
ZKNOSLNOZ MK_HCZ KH SEO _HJO]SDLHSLOZ ND\ HKSMO ODZLI\ KMSDLHOC C_O SK JKNQIOU ZS]_JS_]O KBSEO _HJO]SDLHSLOZ(
KRO].OZSLNDSLKH
JKHZOT_OHSI\ NDFHLS_CO KB JKHS]KI ID]FO(
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
33/68
DCDQSDSLKH IDVZ
Zikslho dhc Jkoswoo P4
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
34/68
NKZS NKCO]H JKHS]KI IDVZ HOOCSEO B_II ZSDSO ROJSK] BK] SEOL]LNQIONOHSDSLKH
SEO B_II ZSDSO LZ HKS DJJOZZLMIO JKZS KB SEO ZOHZK]Z JK_IC MO RO]\ ELFE
I_OHMO]FO] KMZO]RO] P:1^
_H@HKVH LHQ_S KMZO]RO] %_LK,
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
35/68
_H@HKVH LHQ_S KMZO]RO]
I|dquhkr mdzoc dqq}kdje kb Vdijkss dhc Wd` P==)=:) =3^
Zikslho P=?^ Ikqow P=2^
Jeoh P=
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
36/68
DQQILJDSLKHZ %OZ1, Jkhs}ki kb lhcujslkh nksk} c}lro P::^
Dl}j}dbs dsslsuco jkhs}ki P:3^
E|c}duilj qkzlslkh zo}rk z|zson P:?^
Sk}zlkhdi rlm}dslkh jkhs}ki kb ndlh c}lro z|zson kb d}kiilhf nlii P:2^
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
37/68
C]DWOHKRLJ %4
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
38/68
4
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
39/68
SLNO COID\ JKHS]KI SLNO COID\ JKHS]KI MDZOC KH SEO
DZZ_NQSLKH SEDS D JKHSLH_K_ZZLFHDI ]ONDLHZ _HJEDHFOC C_]LHF
D ZNDII LHSO]RDI KB SLNO \K_Z_B.SK_NL DHC LSK P:5):
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
40/68
C]DVMDJ@Z7 . SCJ LHEO]OHSI\ ]OT_L]OZ SEDS DII SEO ZSDSOZ
DHC SEOL] CO]LRDSLROZ MO DRDLIDMIO BK]BOOCMDJ@(
KZJLIIDSLKHZ DIVD\Z OULZS LH SEO JKHS]KIZLFHDI(
SLNO COID\ ND@OZ Z\ZSON DHDI\ZLZ CLBBLJ_ISNDLHI\ LH SO]NZ KB ZSDMLILS\ LZZ_OZ DHC LS DIZKSOHCZ SK COZSDMLILWO D Z\ZSON( VK]@ KH SEO ZSDMLILS\ KB SLNO.COID\ ILHOD] Z\ZSONZ
P3=^ P33^ VK]@ KH SEO ZSDMLILWDSLKH Q]KMION BK] D JIDZZ KB
_HJO]SDLH ILHOD] Z\ZSONZ VLSE COID\ P3?^( Q]KKB KB ZSDMLILS\ KB JIKZOC.IKKQ SLNO.COID\
Z\ZSONZ VLSE CLZJKHSLH_K_Z JKHS]KI LZ NK]OJKNQILJDSOC SEDH BK] SEO JKHSLH_K_Z JDZO(
LB ZOHZK] _ZOC LH SEO NODZ_]ONOHS KB ZSDSOZ LZHKLZ\) SELZ NODZ_]ONOHS HKLZO VLII MO B_]SEO]DNQILBLOC M\ SCJ(
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
41/68
WEKHF DHC ]EOOZ P32^ . _HJO]SDLHS\ DHCCLZS_]MDHJO OZSLNDSK] %_CO, BK] JKHS]KIKB ILHOD] SLNO LHRD]LDHS Z\ZSONZ
SDIKIO DHC QEDC@O P36^ . OUSOHZLKH SKCLZS_]MDHJOZ JKHSDLHLHF ZSDSOCOQOHCOHS HKHILHOD]LSLOZ DHC SK Z\ZSONZEDRLHF _HJO]SDLHSLOZ LH SEO JKHS]KILHQ_S NDS]LU . LHO]SLDI COID\ JKHS]KI
%LCJ,(
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
42/68
NLZZLIO DQQILJDSLKHZ
B_HCDNOHSDI KMGOJSLRO LH SEO
D_SKQLIKS COZLFH BK] NLZZLIO Z\ZSONZ SK Q]KRLCO ZDSLZBDJSK]\ ZSDMLILS\)
QO]BK]NDHJO) DHC ]KM_ZSHOZZ BK] DIIBILFES JKHCLSLKHZ VELJE ND\ KJJ_] LHQ]KMDMIO OHFDFONOHSZ
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
43/68
Q]KMIONZ LH NLZZLIO D_SKQLIKSCOZLFH
_HJO]SDLHSLOZ LH DO]KC\HDNLJQD]DNOSO]Z) SEO J]KZZ JK_QILHF OBBOJSZ)HKHILHOD]LSLOZ DHC NODZ_]ONOHSLHDJJ_]DJLOZ)
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
44/68
ILHOD] JKHS]KI DQQ]KDJEOZ P35^P?1^ ILHOD]LWDSLKH
FDLH ZJEOC_ILHF
E DHC DHDI\ZLZ P?4.?:^
HKHILHOD] DQQ]KDJEOZ
BOOCMDJ@ ILHOD]LWDSLKH %BI, P?3^
Q]OCLJSLRO JKHS]KI P??^
ZILCLHF NKCO JKHS]KI P?2^
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
45/68
JKHS]KIIO]Z MDZOC KH ZSDSO BOOCMDJ@
]OT_L]O DRDLIDMLILS\ KB ZSDSOZ VELIO QLSJE ]DSO DHC JKHS]KI Z_]BDJO
COBIOJSLKH JDH MO NODZ_]OC DHFIO KB DSSDJ@ LZHKS DRDLIDMIO BK] NODZ_]ONOHS( SELZHOJOZZLSDSOZ COZLFH KB KMZO]RO]
HKH.NLHLN_N QEDZO JED]DJSO]LZSLJZ KBDJJOIO]DSLKH C\HDNLJZ JKHS]KIIO]Z D]O COZLFHOC VLSE DHFIO KB DSSDJ@
DZ K_SQ_S LHZSODC KB SEO DJJOIO]DSLKH
@HKVIOCFO LH SO]NZ KB MK_HCZ KB SEO_HJO]SDLHS\ OZSLNDSLKH KB SEO _HJO]SDLHS\ LH Z_JE D VD\ DZ
SK JDHJOI K_S SEO _H@HKVH C\HDNLJZ DHCCLZS_]MDHJOZ(
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
46/68
COZLFH MDZOC KH SEO OUSOHCOC ZSDSOKMZO]RO] %OZK, . QLSJE D_SKQLIKS KB D SDLIJKHS]KIIOC) [email protected]_]H NLZZLIO P?6^(
KMZO]RO].MDZOC JKHS]KI DQQ]KDJE BK]SEO DJJOIO]DSLKH JKHS]KI KB SDLI.JKHS]KIIOC [email protected]_]H %ZSS, NLZZLIOZ P?5^
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
47/68
]OT_L]ONOHSZ
ELFEO] S_]H ]DSOZ
ID]FO] NDHO_RO]DMLILS\ OHROIKQOZ ]OC_JOC ZSK]DFO DHC ZLFHDS_]O
RKI_NOZ
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
48/68
DISO]HDSO NODHZ KB NLZZLIO JKHS]KI DZ KQQKZOC SK
Q_]OI\ DO]KC\HDNLJ JKHS]KI P?
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
49/68
JEDIIOHFOZ SK SEO JKHS]KI Z\ZSONCOZLFHO] P24^(
SEO COZLFH EDZ SK OHJKNQDZZ DII QEDZOZ
KB BILFES(
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
50/68
BK] OUDNQIO
C_]LHF ZOQD]DSLKH B]KN SEO ID_HJE DL]J]DBS LHJ]ODZO LH QLSJE._Q SOHCOHJLOZ C_O SK IDJ@ KBZ_BBLJLOHS DO]KC\HDNLJ ZSDMLILWDSLKH %ZNDIIO]BLHZ,(
DBSO] ZDBO ZOQD]DSLKH) SEO Z\ZSON ND\ MO]OT_L]OC SK QO]BK]N BDZS 451 S_]HZ SK COBOHCDFDLHZS DHC OHFDFO ]OD] EONLZQEO]O QKZLSLKHOCSE]ODSZ DHC SD]FOSZ(
C_]LHF SEO OHCFDNO) SEO ]OC_JOC DO]KC\HDNLJJKHS]KI OBBOJSLROHOZZ C_O SK ZNDIIO] BLH ZLWOZ
N_ZS MO DQQ]KQ]LDSOI\ JKNQOHZDSOC
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
51/68
Q]KQ_IZLKH MDZOC JKHS]KI LH SEOBK]N KB SE]_ZS ROJSK]LHF %SRJ, P2=^DHC+K]
D ]ODJSLKH GOS JKHS]KI Z\ZSON %]JZ,P24^(
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
52/68
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
53/68
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
54/68
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
55/68
SEO ]ODI SOZS
VLIILHFHOZZ SK OUQO]LNOHS LHQ]KBOZZLKHDI Q]DJSLJO
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
56/68
P4^ R( L( _s`lh) Rd}ldmio zs}ujsu}o z|zsonz vlse zilclhf nkcoz) LOOO S}dhz( Dusknds( Jkhs}()rki( DJ.==) qq( =4====) 4
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
57/68
P2^ E( F( @vdsh|) dhc @( C( \kuhf) Seo rd}ldmio zs}ujsu}ozo}rknojedhlzn)Z|zs( Jkhs}( Ioss() rki( 4) hk( :) qq( 4534
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
58/68
P44^ Jedhf) S(E() dhc Eu}nuwiu) \() YZilclhf Jkhs}ki Vlsekus ]odjelhf Qedzo dhc LszDqqiljdslkh sk Mlqocdi Ikjknkslkh)-Gku}hdi kb C|hdnljz Z|zsonz) Nodzu}onohs dhcJkhs}ki) Rki(44?) qq( 336.3??) 4
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
59/68
P42^ O Q ]|dh) D rd}ldmio zs}ujsu}o dqq}kdje sk boocmdj` }ofuidslkh kbuhjo}sdlh c|hdnljdi z|zsonz)) Lhs( G( Jkhs}() rki(:5)hk(2) qq( 44=4.
44:3) 4
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
60/68
P=4^ Veooio})F() Jeuh.\l Zu dhc \(Zsoqdhoh`k) D Zilclhf Nkco Jkhs}kiio} vlse Lnq}kroc
Dcdqsdslkh Idvz bk} seo _qqo} Mkuhcz kh seo Hk}nz kb _hjo}sdlhsloz) Duskndsljd)rki( :3) qq( 42?6.4224) 4
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
61/68
P=2^ Ikqow) ]( dhc \ozjdz) ]() Zsdso Ozslndslkh bk} Hkhilhod} Z|zsonz uhco}Nkcoi _hjo}sdlhsloz7 D Jidzz kb Zilclhf.nkco Kmzo}ro}z) Gku}hdi kb Q}kjozz
Jkhs}ki ) Rki( 4?) =11?) qq( :2::61(P=6^ Gldhf) I(dhc Vu) T() Hkhilhod} Dcdqslro Jkhs}ki rld Zilclhf.nkco Zsdso
dhc Qo}su}mdslkh Kmzo}ro}) LOO Q}kj(. Jkhs}ki Seok}| Dqqiljdslkhz) Rki(43
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
62/68
P:4^ V( Vdhf dhc W( Fdk) D jknqd}lzkh zsuc| kb dcrdhjoc zsdso kmzo}ro} cozlfh
sojehltuoz) lh Q}kj( kb seo Dno}ljdh Jkhs}ki Jkhbo}ohjo) %Cohro}) Jkid}dck) _ZD,)qq( 36?336?
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
63/68
P:2^ ]( Wedhf dhc J( Skhf) Sk}zlkhdi rlm}dslkh jkhs}ki kb seo ndlh c}lro
z|zson kb d }kiilhf nlii mdzoc kh dh osohcoc zsdso kmzo}ro} dhc ilhod}tudc}dslj jkhs}ki) Gku}hdi kb Rlm}dslkh dhc Jkhs}ki) rki( 4=) hk( :) qq( :4::=6) =112(
P:6^ Jel.Ndh @vdh) Zilclhf Nkco Jkhs}ki kb Ilhod} Z|zsonz vlse Nlzndsjeoc_hjo}sdlhsloz') Duskndsljd) rki(:4) hk(=) qq( :1:.:16) 4
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
64/68
P34^ @( @( Ze|u dhc G( G( \dh) ]kmuzs zsdmlils| kb uhjo}sdlh slnocoid| z|zsonz
dhc lsz zsdmlilwdslkh m| rd}ldmio zs}ujsu}o jkhs}ki) Lhs( G ( Jkhs}ki) ?6) =:6.=32)4
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
65/68
P32^ Wekhf) T).J() dhc ]ooz) C() =113) Jkhs}ki kb _hjo}sdlh ISL Z|zsonz Mdzoc kh
dh _hjo}sdlhs| dhc Clzsu}mdhjo Ozslndsk}) DZNO) G( C|h( Z|zs( Nodz()Jkhs}ki) 4=2%3,) qq(
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
66/68
P?4^ ]( D( Hljekiz) ]( S( ]oljeo}s) dhc V( G( ]ufe) Fdlh zjeocuilhf bk} e.lhblhls|jkhs}kiio}z7 D bilfes jkhs}ki odnqio) LOOO S}dhzdjslkhz kh Jkhs}ki Z|zsonzSojehkikf|) rki( 4) qq( 2
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
67/68
P?2^ C(.F( Jeko dhc G(.E( @ln) Qlsje duskqliks cozlfh uzlhf nkcoi bkiikvlhf dcdqslrozilclhf nkco jkhs}ki) Gku}hdi kb Fulcdhjo) Jkhs}ki) dhc C|hdnljz) rki( =?) hk( 3) qq(5=25=
-
7/31/2019 Sliding Mode Control Survey 23 Jun 12
68/68
P24^ Dgd| Seu`}di dhc Nd}lk Lhhkjohsl) D Zilclhf Nkco Nlzzlio QlsjeDuskqliks Z|hseozlz bk} Elfe Dhfio kb Dssdj` Ndhouro}lhf) LOOOS]DHZDJSLKHZ KH JKHS]KI Z\ZSONZ SOJEHKIKF\) RKI(2) HK( :) ND\ 4