3Bouri M, Thomasset D. Sliding control of an electro pneumatic actuator using an integral switching surface[ J]. IEEE Trans. Control Systems Technology ,2001,2:368 - 375.
4Chern T L, Wu Y C. Integral variable structure control approach for robot manipulators [ J ]. IEEE Proceedings. Part D : Control Theory and Applications, 1992,139 ( 2 ) : 161 - 166.
5Tang J, Walker G. Variable structure control of a pneumatic actuator[ J ]. Trans. of ASME, Journal of Dynamic Systems, Measurement and Control, 1995,117 ( 1 ) :88 - 92.
6Flores-Rangle M A, Castro-linares R. Position control of a pneumatic actuator using sliding mode [ C ]//In Proc. In SIAM conf. Control and it's Appl. , 1992.
7Shen X, Zhang J, Barth Eric J, et al. Nonlinear averaging applied to the control of pulse width modulated (PWM) pneumatic systems[ C] //Proceedings of the 2004 American Control Conf. ,Boston,2004:4444-4448.
8Gao W. Theory and designing method of variable structure control [ M ]. Beijing: Science Press, 1996 : 12 - 22.