ON A METHOD OF CONTROL WITH GUARANTEED TERMINAL INVARIANCE TO NOMINAL AND UNCERTAIN DISTURBANCES
We propose here a technique for synthesizing the discontinuous control with nonlinear function of structure switchover that is sum of module of linear functions with linearly-independent vectors of variable coefficients. Transition in sliding regime on the surface that corresponds to such a function (and represents the coordinate origin at zero right-hand part of its mathematical notation and closed surface - at nonzero part) ensures hit and retention of the system image point in the coordinate origin resulting thereby in terminal invariance of this system to uncertain and nominal disturbances