中文摘要：

为了提高控制设计的灵活性,针对一类二阶不确定系统提出一种基于非光滑切换曲面的控制设计方法.该方法基于控制系统自稳定域的概念,首先构造以线性Lipschitz曲面作为边界的自稳定域,然后设计反馈控制律,利用微分方程解与空间非光滑曲面的关系判据,证明在该控制律的作用下系统轨迹将在有限时间内到达所设计的自稳定域边界并进入其内部.结果表明：该方法放宽了对自稳定域边界光滑性的要求,提高了设计的灵活性.数值算例验证了设计的正确性和有效性.

英文摘要：

A control design method based on nonsmooth switching surfaces is proposed for a class of second-order systems in order to enhance the flexibility of system design.Firstly,the self-stable region（SSR） with linear Lipschitz boundary surfaces is constructed by utilizing the notion of SSR.Then,the control law is derived and the convergence of the closed-loop system is proved by the contingent cone criteria,which is used to determine the relation between the solution of a differential equation and a nonsmooth surface.The results show that the control design method developped in this paper allows us to construct the SSR in a more general sense,and the flexibility of system design can be improved.Finally,the correctness and effectiveness of the control design method presented are illustrated by a numerical example.