To reduce the chattering produced by traditional sliding mode controller on the cross beam experimental system, a second-order sliding mode controller based on the idea of high-order sliding mode control for output tracking the cross beam system which was a higher order and MIMO nonlinear system was designed. This method achieved the application of high-order sliding mode control on MIMO system. The simulation shows that second-order sliding mode control can reduce the chattering effectively.
��Ծ��.��ṹ����������Ӧ��[M].����:��ѧ������,2003 Hu Yueming.Variable structure control theory and applications[M].Beijing:Science Press,2003(in Chinese)
��Ծ��,�˺���,��־Ȩ,��.�����Է������ϵͳ�ĸ߽�ģ����[J].�Զ���ѧ��,2002,l28(2):284~289 Hu Yueming, Chao Hongmin, Li Zhiquan,et al. High-order sliding mode control of nonlinear affine control systems[J]. Acta Automatic Sinica,2002,l28(2):284~289(in Chinese)
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