引入离散协同控制方法解决非线性离散动态系统中的控制问题。归纳出离散协同控制方法的一般形式。利用滑模变结构控制与协同控制的相似性分析离散协同控制流形的存在条件、到达条件和收敛速度。分析离散协同控制下闭环系统的稳定性及一定条件下的鲁棒性。分析表明，离散协同控制方法从任意初始状态都能以指数收敛到流形，对满足一定条件的系统内部参数扰动和外部干扰具有不变性。以Buck开关变换器为例，讨论了它的离散协同控制器的设计问题。Simulink仿真结果表明，离散协同控制器能渐近稳定在目标工作点上，并对负载和输入电压的变化具有较强的鲁棒性。

As the existing nonlinear control methods are difficult to apply to practical nonlinear dynamic systems,a discrete synergetic control strategy is proposed in this paper.In the investigation,first,the characteristics of the discrete synergetic control and its application to DC-DC converters are analyzed.Next,the general forms of the syner-getic controller are summarized,and the existence and hitting conditions as well as the convergence speed of the control manifold are discussed based on the similarity of the variable structure control to the synergetic control.Then,the stability and robustness of the closed-loop system driven by the synergetic controller are investigated.Finally,the effects of control parameters on the control performance are discussed.Both the analysis and Simulink simulation results show that,with the discrete synergetic control,manifolds can be exponentially reached from any original states,the control system asymptotically stabilizes at the objective working point,and the invariance against system parameter variation and external perturbation can be achieved when the matching conditions are satisfied.