The design of variable structure control for discrete time systems is discussed. The concepts of discrete time systems are told in detail, including quasi-sliding mode and quasi-sliding sector.
研究了离散变结构控制问题，详细叙述了离散时间系统的准滑模、理想滑模、非理想滑模与准滑模带的概念；
By using the method of quasi-sliding mode, the variable structure control law for lane keeping was designed.
采用准滑模控制方法，设计车道保持变结构控制规律；
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