Tracking Problem Solution in Nonlinear Dynamic System Based on Sliding Modes

This paper develops methods of decentralized variable structure control for a class of output tracking in dynamical systems with nonlinear interconnections. The case is considered, when the vanishing conditions don't obtain, i.e. nonlinear interconnections in the i-th subsystem don't belong to the subspace of the i-th control function. The local discontinues control laws are formed in the subsystems according with the local switched surfaces and depended on subsystems state deviations from special constructed subsystems program states. The propose is to provide sliding modes desired quality and autonomy for output tracking in subsystems. The desired quality of tracking is to obtain desired eigenvalues of the equivalent linear system. The simulating of sliding modes problem in such systems taking in account the existence conditions of mentioned modes is considered.