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sliding form - translation to russian
![Figure 1: [[Phase plane]] trajectory of a system being stabilized by a sliding mode controller. After the initial reaching phase, the system states "slides" along the line <math>s=0</math>. The particular <math>s=0</math> surface is chosen because it has desirable reduced-order dynamics when constrained to it. In this case, the <math>s=x_1 +\dot{x}_1 = 0</math> surface corresponds to the first-order [[LTI system]] <math>\dot{x}_1 = -x_1</math>, which has an [[exponentially stable]] origin.](https://commons.wikimedia.org/wiki/Special:FilePath/First order sliding mode control.svg?width=200 "Figure 1: [[Phase plane]] trajectory of a system being stabilized by a sliding mode controller. After the initial reaching phase, the system states \"slides\" along the line <math>s=0</math>. The particular <math>s=0</math> surface is chosen because it has desirable reduced-order dynamics when constrained to it. In this case, the <math>s=x_1 +\dot{x}_1 = 0</math> surface corresponds to the first-order [[LTI system]] <math>\dot{x}_1 = -x_1</math>, which has an [[exponentially stable]] origin.")
общая лексика
скользящая опалубка
![C]] arrays. Each one is converted into a canonical form by sorting. Since both sorted strings literally agree, the original strings were anagrams of each other.](https://commons.wikimedia.org/wiki/Special:FilePath/Anagram canonical svg.svg?width=200 "C]] arrays. Each one is converted into a canonical form by sorting. Since both sorted strings literally agree, the original strings were anagrams of each other.")
каноническая форма; канонический вид
Definition
Wikipedia
In control systems, sliding mode control (SMC) is a nonlinear control method that alters the dynamics of a nonlinear system by applying a discontinuous control signal (or more rigorously, a set-valued control signal) that forces the system to "slide" along a cross-section of the system's normal behavior. The state-feedback control law is not a continuous function of time. Instead, it can switch from one continuous structure to another based on the current position in the state space. Hence, sliding mode control is a variable structure control method. The multiple control structures are designed so that trajectories always move toward an adjacent region with a different control structure, and so the ultimate trajectory will not exist entirely within one control structure. Instead, it will slide along the boundaries of the control structures. The motion of the system as it slides along these boundaries is called a sliding mode and the geometrical locus consisting of the boundaries is called the sliding (hyper)surface. In the context of modern control theory, any variable structure system, like a system under SMC, may be viewed as a special case of a hybrid dynamical system as the system both flows through a continuous state space but also moves through different discrete control modes.
