一阶系统控制
x ˙ = u + φ 1 ( x ) y = x \begin{aligned} \dot{x}&=u+\varphi_1(x) \\ y&=x \end{aligned} x˙y=u+φ1(x)=x
u = − c z 1 − φ 1 ( x ) + y ˙ d u=-c z_{1}-\varphi_1(x)+\dot{y}_{d} u=−cz1−φ1(x)+y˙d
z 1 = y − y d z_{1}=y-y_{d} z1=y−yd
二阶系统控制
x ˙ 1 = x 2 + φ 1 ( x 1 ) x ˙ 2 = u + φ 2 ( x 1 , x 2 ) y = x 1 \begin{aligned} \dot{x}_{1}&=x_{2}+\varphi_{1}\left(x_{1}\right) \\ \dot{x}_{2}&=u+\varphi_{2}\left(x_{1}, x_{2}\right) \\ y&=x_{1} \end{aligned} x˙1x˙2y=x2+φ1(x1)=u+φ2(x1,x2)=x1
u = − c 2 z 2 − φ 2 ( x 1 , x 2 ) + ∂ α 1 ∂ x 1 x ˙ 1 + ∂ α 1 ∂ y d y ˙ d + ∂ α 1 ∂ y ˙ d y ¨ d − z 1 α 1 = − c 1 z 1 − φ 1 ( x 1 ) + y ˙ d \begin{aligned} u&=-c_{2} z_{2}-\varphi_{2}\left(x_{1}, x_{2}\right)+\frac{\partial \alpha_{1}}{\partial x_{1}} \dot{x}_{1}+\frac{\partial \alpha_{1}}{\partial y_{d}} \dot{y}_{d}+\frac{\partial \alpha_{1}}{\partial \dot{y}_{d}} \ddot{y}_{d}-z_{1} \\ \alpha_{1}&=-c_{1} z_{1}-\varphi_{1}\left(x_{1}\right)+\dot{y}_{d} \end{aligned} uα1=−c2z2−φ2(x1,x2)+∂x1∂α1x˙1+∂yd∂α1y˙d+∂y˙d∂α1y¨d−z1=−c1z1−φ1(x1)+y˙d
z 1 = y − y d z 2 = x 2 − α 1 \begin{aligned} z_{1}&=y-y_{d} \\ z_{2}&=x_{2}-\alpha_{1} \end{aligned} z1z2=y−yd=x2−α1
三阶系统控制
x ˙ 1 = x 2 + φ 1 ( x 1 ) x ˙ 2 = x 3 + φ 2 ( x 1 , x 2 ) x ˙ 3 = u + φ 3 ( x 1 , x 2 , x 3 ) y = x 1 \begin{aligned} \dot{x}_{1}&=x_{2}+\varphi_{1}\left(x_{1}\right) \\ \dot{x}_{2}&=x_{3}+\varphi_{2}\left(x_{1}, x_{2}\right) \\ \dot{x}_{3}&=u+\varphi_{3}\left(x_{1}, x_{2}, x_{3}\right) \\ y&=x_{1} \end{aligned} x˙1x˙2x˙3y=x2+φ1(x1)=x3+φ2(x1,x2)=u+φ3(x1,x2,x3)=x1
u = − c 3 z 3 − φ 3 ( x 1 , x 2 , x 3 ) + ∂ α 2 ∂ x 1 x ˙ 1 + ∂ α 2 ∂ x 2 x ˙ 2 + ∂ α 2 ∂ y d y ˙ d + ∂ α 2 ∂ y ˙ d y ¨ d + ∂ α 2 ∂ y ¨ d y d ( 3 ) − z 2 α 2 = − c 2 z 2 − φ 2 ( x 1 , x 2 ) + ∂ α 1 ∂ x 1 x ˙ 1 + ∂ α 1 ∂ y d y ˙ d + ∂ α 1 ∂ y ˙ d y ¨ d − z 1 α 1 = − c 1 z 1 − φ 1 ( x 1 ) + y ˙ d \begin{aligned} u&=-c_{3} z_{3}-\varphi_{3}\left(x_{1}, x_{2}, x_{3}\right)+\frac{\partial \alpha_{2}}{\partial x_{1}} \dot{x}_{1}+\frac{\partial \alpha_{2}}{\partial x_{2}} \dot{x}_{2} +\frac{\partial \alpha_{2}}{\partial y_{d}} \dot{y}_{d}+\frac{\partial \alpha_{2}}{\partial \dot{y}_{d}} \ddot{y}_{d}+\frac{\partial \alpha_{2}}{\partial \ddot{y}_{d}} y^{(3)}_{d}-z_{2} \\ \alpha_{2}&=-c_{2} z_{2}-\varphi_{2}\left(x_{1}, x_{2}\right)+\frac{\partial \alpha_{1}}{\partial x_{1}} \dot{x}_{1}+\frac{\partial \alpha_{1}}{\partial y_{d}} \dot{y}_{d}+\frac{\partial \alpha_{1}}{\partial \dot{y}_{d}} \ddot{y}_{d}-z_{1} \\ \alpha_{1}&=-c_{1} z_{1}-\varphi_{1}\left(x_{1}\right)+\dot{y}_{d} \end{aligned} uα2α1=−c3z3−φ3(x1,x2,x3)+∂x1∂α2x˙1+∂x2∂α2x˙2+∂yd∂α2y˙d+∂y˙d∂α2y¨d+∂y¨d∂α2yd(3)−z2=−c2z2−φ2(x1,x2)+∂x1∂α1x˙1+∂yd∂α1y˙d+∂y˙d∂α1y¨d−z1=−c1z1−φ1(x1)+y˙d
z 1 = y − y d z 2 = x 2 − α 1 z 3 = x 3 − α 2 \begin{aligned} z_{1}&=y-y_{d} \\ z_{2}&=x_{2}-\alpha_{1} \\ z_{3}&=x_{3}-\alpha_{2} \end{aligned} z1z2z3=y−yd=x2−α1=x3−α2
三阶动态面控制
x ˙ 1 = x 2 + φ 1 ( x 1 ) x ˙ 2 = x 3 + φ 2 ( x 1 , x 2 ) x ˙ 3 = u + φ 3 ( x 1 , x 2 , x 3 ) y = x 1 \begin{aligned} \dot{x}_{1}&=x_{2}+\varphi_{1}\left(x_{1}\right) \\ \dot{x}_{2}&=x_{3}+\varphi_{2}\left(x_{1}, x_{2}\right) \\ \dot{x}_{3}&=u+\varphi_{3}\left(x_{1}, x_{2}, x_{3}\right) \\ y&=x_{1} \end{aligned} x˙1x˙2x˙3y=x2+φ1(x1)=x3+φ2(x1,x2)=u+φ3(x1,x2,x3)=x1
u = − c 3 z 3 − φ 3 ( x 1 , x 2 , x 3 ) + ε ˙ 2 α 2 = − c 2 z 2 − φ 2 ( x 1 , x 2 ) + ε ˙ 1 α 1 = − c 1 z 1 − φ 1 ( x 1 ) + y ˙ d \begin{aligned} u&=-c_{3} z_{3}-\varphi_{3}\left(x_{1}, x_{2}, x_{3}\right)+\dot{\varepsilon}_{2} \\ \alpha_{2}&=-c_{2} z_{2}-\varphi_{2}\left(x_{1}, x_{2}\right)+\dot{\varepsilon}_{1} \\ \alpha_{1}&=-c_{1} z_{1}-\varphi_{1}\left(x_{1}\right)+\dot{y}_{d} \end{aligned} uα2α1=−c3z3−φ3(x1,x2,x3)+ε˙2=−c2z2−φ2(x1,x2)+ε˙1=−c1z1−φ1(x1)+y˙d
z 1 = y − y d z 2 = x 2 − ε 1 z 3 = x 3 − ε 2 \begin{aligned} z_{1}&=y-y_{d} \\ z_{2}&=x_{2}-\varepsilon_{1} \\ z_{3}&=x_{3}-\varepsilon_{2} \end{aligned} z1z2z3=y−yd=x2−ε1=x3−ε2
τ 1 ε ˙ 1 + ε 1 = α 1 τ 2 ε ˙ 2 + ε 2 = α 2 \begin{aligned} \tau_{1} \dot{\varepsilon}_{1}+\varepsilon_{1}&=\alpha_{1} \\ \tau_{2} \dot{\varepsilon}_{2}+\varepsilon_{2}&=\alpha_{2} \end{aligned} τ1ε˙1+ε1τ2ε˙2+ε2=α1=α2
滤波器误差： Y 1 = ε 1 − α 1 , Y 2 = ε 2 − α 2 Y_{1}=\varepsilon_{1}-\alpha_{1}, Y_{2}=\varepsilon_{2}-\alpha_{2} Y1=ε1−α1,Y2=ε2−α2
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