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1、OPTIMAI，SLIDINGMODETRACKINGCONTROLFORACLASSOFAFFD旺!NONLINEARSYSTEMSABSTRACTTheoptimaltrackingproblemhasbeenreceivedgreatgrowingattentionowingtoitswidepracticalapplications．Thelinearoptimaltrackingproblemcouldbesolvedbydirectlyusingthesolutionofoptimalregulationproblem．However
2、,thenonlinearoptimaltrackingproblemoftenleadstoanonlineartwo—pointboundary-valueproblem(TPBV)andananalyticalsolutiongenerallydoesnotexistexceptsomesimplestcases．Exactlinearization,whichisusuallyusedtorealizenonlinearsystemtransformation，couldavoidnonlinearTPBVproblemandeffect
3、ivelysimplifytheoptimalregulatordesign．Therealplantsinevitablycontainsystemuncertainty．Thismaydegradethedynamicperformanceoftheoptimalcontrollerwhichisusuallydesignedbasedonprecisemathematicalmodes，evenmakeitunstable．Theoutstandingadvantageofslidingmodecontrol(SMC)isthat。slid
4、ingmodecallprovidecompleterobustnesstosystemuncertainty．Therefore，SMCCanbeemployedtorobustifytheoptimalregulator,inordertoachievethe‘optimalinvariance’．Thedesignofoptimalslidingmodetrackingcontrollerisstudiedforaclassofaffinenonlinearsystemsinthisthesis．Themainworksaresummari
5、zedasfollows：1．Theoptimalslidingmodetrackingcontrolisstudiedforuncertainlinearsystems．Anaugmentedsystem，composedoftheoriginalsystemandtheexosystem，isconstructedtotransformtheoptimaloutputtrackingproblemintoanoptimalregulationproblem．Consideringsystemuncertainty,theoptimalslid
6、ingmanifoldisconstructed，basedontheoptimalcontrollawofnominalsystemoftheaugmentedsystem．Slidingmodesatisfiesrequirementofgivenoptimalperformanceeriterionandexhibitscompleterobustnesstosystemuncertainty．Areferenceinputobserverisconstructedtoguaranteethecontrollawphysicallyreal
7、izable．Simulationresultsillustratetheeffectivenessoftheproposedmethod．2．TheoptimalslidingmodetrackingcontrollerisdesignedforaclassofIIIuncertainnonlinearSingle-Input-Single-Output(SISO)systems，withre銜鋤cesl薩砒givenbyallexosystem．Firstlyfeedbacklinearizationisadoptedtotransfomlt
8、nenonlinearmodelintoallequivalentlinearone．Consideringt11ere衙％ceeXos
