Abstract
In the paper, it is shown for any SISO plant that in the state space, there exists a subspace inside which a norm of the state decreases. Such subspafe defines a sliding sector. Then a VSS controller is designed to transfer the system state from the outside to the inside of the sliding sector in a finite time interval and to enable the system state stay inside the sliding sector. Considering parameter uncertainty and external disturbance, the self-tuning control algorithm is used together with the VSS control law to make the system robust stable and to get better control performance. Simulation results are given.
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