Based on model of given feed drive dynamics, point to ball screw drive system and its motion differential equations, two fundamental steps in designing a sliding mode controller, that is the selections of a sliding surface and a Lyapunov function.

• 在给出进给传动动力学模型的基础上,针对滚珠丝杆传动系统及其运动微分方程,讨论了设计滑模控制器的2个主要步骤,即滑移面和李亚普诺夫函数的选择。