中文摘要：

针对电液伺服驱动的连铸结晶器位移系统存在的状态不可测、参数不确定性及外部扰动问题，提出一种基于状态观测器的反步滑模控制方法。该方法采用比例积分状态观测器实现对系统各状态的有效估计，并给出观测器增益矩阵的计算方法；然后采用反步与非奇异终端滑模相结合的控制方法设计控制器，避免了传统终端滑模带来的奇异问题，同时引入一类类势能函数，提高了系统的收敛速度与稳态精确度，最后通过Lyapunov稳定性判定法证明了系统的稳定性。仿真结果表明，该方法所设计的控制器能够有效地实现连铸结晶器位移系统的准确跟踪控制，增强了系统的鲁棒性。

英文摘要：

Aiming at the problems of unmeasurable state, parameter uncertainties and external disturb-ances which exist in the displacement control system of continuous cast mold driven by electro-hydraulic servo system, a backstepping sliding mode control method was proposed based on the state observer. Pro-portion integral state observer was employed to estimate the system state efficiently, and the calculation method of the observer gain matrix was given. Then the controller was designed based on backstepping and nonsingular terminal sliding mode, which avoid the singular problem existing in the traditional termi-nal sliding mode; simultaneously, a kind of quasi potential function was introduced to improve the re-sponse speed and steady accuracy of the system. Finally, the stability of the system was proved by choo-sing appropriate Lyapunov functions. And the simulation results show that the designed controller not only achieves accurate displacement tracking control of the continuous cast mold driven by electro-hydraulic servo system, but also enhances the robustness of the system.