李雅普诺夫函数证明
选取李雅普诺夫函数
V
(
k
)
=
1
2
s
(
k
)
2
V(k) =\frac{1}{2} s(k)^{2}
V(k)=21s(k)2
只要满足条件
Δ
V
(
k
+
1
)
=
s
(
k
+
1
)
2
−
s
(
k
)
2
<
0
\Delta V(k+1) =s(k+1)^{2}-s(k)^{2}<0
ΔV(k+1)=s(k+1)2−s(k)2<0
则根据李雅普诺夫稳定性定理，
s
(
k
)
=
0
s(k)=0
s(k)=0是全局渐进稳定的平衡面，即任意初始位置的状态都会趋向于滑模面
s
(
k
)
s(k)
s(k)。故到达条件为
s
(
k
+
1
)
2
<
s
(
k
)
2
s(k+1)^{2}<s(k)^{2}
s(k+1)2<s(k)2
存在和可达性条件
当采样时间
T
T
T很小时，离散滑模的存在和到达性条件为
[
s
(
k
+
1
)
−
s
(
k
)
]
s
g
n
(
s
(
k
)
)
<
0
,
[
s
(
k
+
1
)
+
s
(
k
)
]
s
g
n
(
s
(
k
)
)
>
0
[s(k+1)-s(k)]sgn(s(k))<0, [s(k+1)+s(k)]sgn(s(k))>0
[s(k+1)−s(k)]sgn(s(k))<0,[s(k+1)+s(k)]sgn(s(k))>0
Sarpturk, S. Z., Yorgo Istefanopulos, and Okyay Kaynak. “On the stability of discrete-time sliding mode control systems.” IEEE Transactions on Automatic Control 32.10 (1987): 930-932.
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