This paper is mainly concerned with the design of a hybrid robust output tracker for a class of systems with a direct feed-through term and bounded matched nonlinear disturbances. First, we present a continuous-time linear quadratic analog tracker (LQAT) based on sliding mode control (SMC), and the existence of sliding manifold is guaranteed with the proposed controller in the continuous-time domain. After designing the continuous-time SMC-based tracker, a digital redesign approach using Euler's approximation method is newly proposed to directly obtain a discrete-time SMC-based tracker from the continuous-time SMC-based tracker, and the hitting condition is also satisfied such that the existence of sliding manifold is guaranteed in the hybrid controlled systems. Therefore, the output tracking performance with the proposed discrete-time SMC-based tracker can be also satisfied as the continuous-time SMC-based tracker. Illustrative examples are given to demonstrate the success of the proposed digital-redesign-based SMC algorithm.

中文翻译：

---

使用滑模控制的数字重新设计的采样数据系统的混合鲁棒输出跟踪器设计

本文主要关注为一类具有直接馈通项和有界匹配非线性扰动的系统设计混合鲁棒输出跟踪器。首先，我们提出了一种基于滑模控制（SMC）的连续时间线性二次模拟跟踪器（LQAT），并在连续时域中用所提出的控制器保证了滑动流形的存在。在设计了基于连续时间SMC的跟踪器后，新提出了一种使用欧拉近似法的数字化重新设计方法，从基于连续时间SMC的跟踪器中直接得到基于离散时间SMC的跟踪器，同时满足命中条件这样在混合控制系统中保证了滑动流形的存在。所以，所提出的基于离散时间 SMC 的跟踪器的输出跟踪性能也可以满足基于连续时间 SMC 的跟踪器。举例说明了所提出的基于数字重新设计的 SMC 算法的成功。