提出了一类具有全程滑动模态的变结构控制系统,使系统在响应的全过程都具有鲁棒性,克服了传统的变结构控制中到达模态不具有鲁棒性的缺点,提供了非线性系统切换函数设计的一种有效方法。文中给出了详细设计步骤,并对倒立摆模型设计了全滑模控制器,仿真结果验证了其有效性。 A kind of variable structure control system with full sliding mode is proposed, which makes the system robust in the whole process of response and overcomes the shortcomings that traditional modal arrival mode in variable structure control is not robust. An Effective Method for Linear System Switching Function Design. In this paper, the detailed design steps are given, and the full sliding mode controller is designed for the inverted pendulum model. The simulation results show its effectiveness.