Moreover, we present a new and efficient method suit to design stepwise controller just like those in this paper, which is called the decomposition and composition of a finite state machine.
Finally, using nonsingular terminal sliding mode technology, a feedback stabilizing controller which can make the closed loop system converge to equilibrium in finite time is given.
最后，利用非奇异终端滑模控制技术，得到了一种使闭环系统有限时间收敛到平衡点的反馈镇定控制器。
3
The resulting controller is a finite impulse response (FIR) filter and hence problem of non-minimum phase zero cancellation is avoided.