Event triggering sliding mode control method for input delay system

The invention relates to an event triggering sliding mode control method for an input delay system, and belongs to the field of industrial process control. The method comprises the following steps: firstly, converting a system with time delay into a non-time-delay form, and estimating the internal uncertainty and external disturbance of the converted equivalent system through an extended state observer; and designing the input of the system in a sliding mode control mode to improve the robustness of the system, and updating the input by using an event triggering mechanism to improve the resource utilization rate of the system. According to the method, various factors for comprehensively evaluating the indexes of the control system in the actual production process are fully considered, the anti-interference capability is greatly improved, the calculated amount is greatly reduced, and the method has a wide application prospect. 本发明涉及一种针对输入延时系统的事件触发滑模控制方法，属于工业过程控制领域。本发明首先将带有延时的系统转换为无延时形式，对转换后的等效系统通过扩张状态观测器估计系统内部