Sliding-Mode Control and Variable-Structure Systems: The State of the Art
暫譯: 滑模控制與變結構系統：現狀與發展

這本書反映了滑模控制（Sliding-Mode Control, SMC）和變結構系統（Variable-Structure Systems, VSS）的最新發展，包含了來自領先研究者和國際專家的貢獻。這些貢獻突顯了該領域各個分支的進展——傳統和高階的SMC，無論是在連續時間還是離散時間的實現和理論及應用方面均受到關注。

本書由六個部分組成。第一部分提出了新的SMC/VSS演算法並分析其特性。第二部分專注於使用觀測器來解決估計和輸出反饋控制問題。第三部分討論了SMC演算法的離散化方面。第四和第五部分提供了有關使用適應法則以避免過估計控制增益和減少抖動的重要見解。最後一部分檢視了這些SMC/VSS理念在現實系統中的應用。

《滑模控制與變結構系統》向研究生和研究人員介紹了該領域的最新技術。它包括與控制、自動化、應用數學、電氣和機械工程、儀器、電子學、計算機科學、機器人技術、交通運輸和電力工程等學科相關的理論、方法和應用。其清晰的風格和深入的闡述幫助讀者保持與工具的聯繫，這些工具因為SMC/VSS範式的穩健性和對擾動的不敏感性，而成為處理不確定系統的最有效方法之一。

Tiago Roux Oliveira joined State University of Rio de Janeiro (UERJ), Brazil, as an Associate Professor in 2010. In 2014, he was a Visiting Scholar with the University of California - San Diego (UCSD), CA, USA. He has served as a member of the IFAC Technical Committees: Adaptive and Learning Systems (TC 1.2) and Control Design (TC 2.1), and the Technical Committee on Variable Structure and Sliding Mode Control of the IEEE Control Systems Society (CSS). In 2017, he was nominated as an Affiliate Member of the Brazilian Academy of Sciences (ABC). In 2018, he was elevated to the grade of IEEE Senior Member of the CSS. He was a recipient of the CAPES National Award of Best Thesis in Electrical Engineering, in 2011, and the FAPERJ Young Researcher Award, in 2012, 2015, and 2018. Prof. Oliveira was Guest Editor of the International Journal of Adaptive Control and Signal Processing for the Special Issue From Adaptive Control to Variable Structure Systems - Seeking Harmony. He has served as an Associate Editor for the Journal of the Franklin Institute; the Journal of Control, Automation, and Electrical Systems; the International Journal of Robust and Nonlinear Control; and Systems & Control Letters. In 2020, he was elected Chair of the Technical Committee 1.2 (Adaptive and Learning Systems) of the IFAC for the triennium 2020-2023. In 2021, he was awarded the IEEE Transactions on Control Systems Technology Outstanding Paper Award from the IEEE CSS.

Leonid Fridman has been with the Electrical Engineering Division of the Faculty of Engineering of the National Autonomous University of Mexico (UNAM) in the Department of Control Engineering and Robotics since 2002. His research interests include variable-structure systems. He is a co-author and co-editor of several books and special issues of different journals devoted to sliding-mode control. In 2014-2018 he served as Chair of the IEEE Control Systems Society Technical Committee on Variable Structure and Sliding Mode Control. He is the recipient of the Harold Chestnut Control Engineering Textbook Prize of the IFAC for his co-authored book Sliding Mode Control and Observation, winner of the National University Prize at UNAM in 2019 and Scopus prize for the best cited Mexican Scientists in Mathematics and Engineering 2010. He has worked as an invited Professor in more than 20 universities and research laboratories of Argentina, Australia, Austria, China, France, Germany, Italy, Israel, and Spain. Currently, Professor Fridman is also an International Chair of INRIA, France, and a High-Level Foreign Expert of the Ministry of Education of the People's Republic of China.

Liu Hsu received the B.Sc. and M.Sc. degrees in electrical engineering from the Instituto Tecnológico de Aeronáutica (ITA), São José dos Campos, Brazil, in 1968 and 1970, respectively, and the Docteur d'Etat es Sciences Physiques degree from the Université PaulSabatier, Toulouse, France in 1974. His doctoral research was developed at the LAAS/CNRS, Toulouse. He is presently with COPPE's Electrical Engineering Department (PEE), working in the Control Systems, Automation and Robotics area. His current research interests include adaptive control systems, variable-structure systems, sliding-mode control and observation, nonlinear systems dynamics and their applications to industrial process control and robotics, and terrestrial and underwater service robotics. Liu Hsu is a member of the Brazilian Academy of Sciences (2002). He was awarded the title of Commander (2005) and Grand Cross (2008) of the Brazilian National Order of Scientific Merit. In 2013 he became a member of the Brazilian National Academy of Engineering. He is a founding member of the Brazilian Society of Automatics (SBA- the Brazilian IFAC national member organization). He chaired the 3rd Brazilian Conference on Automatics, Rio de Janeiro, in 1980. He served as member and President of the Superior Council of SBA (1984-1990). He was an Associate Editor of the SBA scientific journals Controle & Automação; IET Control Theory and Applications; the IEEE Control Systems Magazine; and the Annals of the Brazilian Academy of Sciences. Liu Hsu is a Senior Member of the IEEE Control Systems Society. He is also a member of the IEEE CSS Technical Committee on Variable Structure and Sliding Mode Control. He received the title of professor emeritus of COPPE-UFRJ in 2017.

**Tiago Roux Oliveira** 於2010年加入巴西里約熱內盧州立大學（UERJ）擔任副教授。2014年，他在美國加州大學聖地牙哥分校（UCSD）擔任訪問學者。他曾擔任國際自動控制聯盟（IFAC）技術委員會的成員，包括自適應與學習系統（TC 1.2）和控制設計（TC 2.1），以及IEEE控制系統學會（CSS）可變結構與滑模控制技術委員會的成員。2017年，他被提名為巴西科學院（ABC）的附屬會員。2018年，他晉升為IEEE控制系統學會的高級會員。他於2011年獲得CAPES電氣工程最佳論文國家獎，並於2012年、2015年和2018年獲得FAPERJ青年研究者獎。Oliveira教授曾擔任《國際自適應控制與信號處理期刊》的特刊《從自適應控制到可變結構系統 - 尋求和諧》的客座編輯。他還擔任《富蘭克林學院期刊》、《控制、自動化與電氣系統期刊》、《穩健與非線性控制國際期刊》和《系統與控制快報》的副編輯。2020年，他當選為IFAC自適應與學習系統技術委員會1.2的主席，任期為2020-2023年。2021年，他獲得IEEE控制系統技術期刊傑出論文獎。

**Leonid Fridman** 自2002年以來一直在墨西哥國立自治大學（UNAM）工程學院電氣工程部控制工程與機器人系工作。他的研究興趣包括可變結構系統。他是多本書籍和不同期刊特刊的共同作者和共同編輯，這些書籍和期刊專注於滑模控制。2014年至2018年，他擔任IEEE控制系統學會可變結構與滑模控制技術委員會的主席。他因共同編著的書籍《滑模控制與觀測》獲得IFAC的Harold Chestnut控制工程教科書獎，該書在2019年獲得UNAM國立大學獎，並於2010年獲得最佳引用墨西哥科學家在數學和工程領域的Scopus獎。他曾在阿根廷、澳大利亞、奧地利、中國、法國、德國、意大利、以色列和西班牙的20多所大學和研究實驗室擔任受邀教授。目前，Fridman教授也是法國INRIA的國際主席，以及中華人民共和國教育部的高級外籍專家。

**Liu Hsu** 於1968年和1970年分別在巴西聖若澤杜坎波斯的航空技術學院（ITA）獲得電氣工程學士和碩士學位，並於1974年在法國圖盧茲的保羅薩巴捷大學獲得物理科學博士學位。他的博士研究在圖盧茲的LAAS/CNRS進行。目前，他在COPPE的電氣工程系（PEE）工作，專注於控制系統、自動化和機器人領域。他目前的研究興趣包括自適應控制系統、可變結構系統、滑模控制與觀測、非線性系統動力學及其在工業過程控制和機器人、地面及水下服務機器人中的應用。Liu Hsu是巴西科學院的成員（2002年）。他於2005年和2008年獲得巴西國家科學功勳勳章的指揮官和大十字勳章稱號。2013年，他成為巴西國家工程院的成員。他是巴西自動化學會（SBA - 巴西IFAC國家會員組織）的創始成員。他於1980年擔任第三屆巴西自動化會議的主席，並於1984年至1990年擔任SBA高級委員會的成員和主席。他曾擔任SBA科學期刊《控制與自動化》、《IET控制理論與應用》、《IEEE控制系統雜誌》和《巴西科學院年刊》的副編輯。Liu Hsu是IEEE控制系統學會的高級會員，並且是IEEE CSS可變結構與滑模控制技術委員會的成員。他於2017年獲得COPPE-UFRJ的名譽教授稱號。