关键词: 混合系统, 去混合化, 滑模控制

Abstract: In order to solve the problem of stability of hybrid systems with arbitrary switching laws‚a class of affine nonlinear hybrid system was investigated．The complete dehybridization of this class of system was firstly realized according to the order-reducing character and by designing the controlling laws of sliding mode control．The control design of the system was then carried out according to the control theories and methods applied to common continuous nonlinear systems．At last‚a final sliding mode control law which ensures the stability of hybrid systems was obtained by transformation．The simulation results confirm the validity of the proposed control law．

Key words: hybrid system, dehybridization, sliding mode control