Abstract:

A modified repetitive variable structure control (MRVSC) scheme is proposed for a class of nonlinear system with statedependent model uncertainties and periodic exogenous disturbance. A modified integral sliding mode surface (MISMS) is constructed based on the traditional integral sliding mode surface. The MRVSC law designed by using Lyapunov theory guarantees the nonlinear system trajectory reaches the MISMS in a finite time interval and keeps up here thereafter, meanwhile, it makes the sliding mode dynamic become the repetitive control system. The parameters of the MISMS are selected on the bases of the stability condition and the sensitivity function of the repetitive control system. By comparing with the traditional integral sliding mode control scheme, simulation results show that the proposed scheme can provide a better tracking performance for the nonlinear system.