变结构模型参考自适应控制：一种切换方法

将处理对象对阶为1、控制增益可切换的鲁棒变结构模型参考自适应控制方案推广到对象为任意相对阶时的一般情形。主要结果是：1）.当对象相对阶大于1时，首先得到了系统跟踪误差与辅助误差与辅助误差间关系的明确表达式，进而证明，平均值滤波器对系统的影响从某种意义上相当于一个未建模动态对系统的影响；2）.若恰当选择平均值滤波器的时间常数，则对各辅助子系统（均为相对阶为1的子系统），只要按相对阶为1时所提出的变结构律进行设计，使它们满足预先给定的性能指标，就可保证系统跟踪误差在预先给定的过渡过程时间内收敛到一个残差集中。

A Variable Structure Model Reference Control:A Switching Scheme

A switching scheme for the gain of control variable of a VS MRAC system is recently presented for plants with relative degree one.In this paper,the scheme is extended to the general case of plants with arbitrary relative degree.By the estabishment of the relationship between the tracking error and those auxiliary errors for the case of plants with relative degree greater than one,it is shown that so long as the perbormance indexes are guaranteed for the auxiliary errors,each of which is in dynamics a sub system with relative degree one,the tracking error will converge to a small residual set in a prespecified transient time.Furthermore,the influence of averaging fulters on the system is analyzed and shows that it can be considered as ,in a sense,an unmodelled dynamics.