中文摘要：

以小灵巧炸弹为控制对象，从工程实际应用角度研究了非线性离散鲁棒动态逆BTT控制器设计问题。采用模拟化设计方法，将连续鲁棒动态逆BTT控制器离散获得了离散控制器。通过混合仿真较全面地验证了离散控制器的稳定性和基本性能：虽然比连续控制器的动态性能略有降低，但离散控制器的鲁棒性、解耦特性以及对信号噪声的干扰适应性等方面，仍然能够达到设计目标要求，这对于工程实际中常用的以计算机解算控制信号的方法来说具有重要实用价值。所设计的离散鲁棒动态逆BTT控制器，具有良好的工程应用前景。

英文摘要：

In this paper a nonlinear discrete robust dynamic inversion BTY controller has been designed for the Small Smart Bomb （SSB） from the point of view of practical engineering. The Continuous Time Design （CTD） method is used to complete the designing of the discrete BTY controller. More comprehensive hybrid simulation verifies the stability and performance of the discrete controller. Although the discrete controller performance is lower than the corresponding continuous controller,the robustness and decoupling specifications are also satisfied in terms of the design objectives and requirements. The proposed discrete BrI3＇ controller has stronger practical value with respect to the control signals solved by computers in engineering, and the proposed approach has good prospects for practical engineering applications.