Discrete adaptive sliding mode control of a state-space system with a bounded disturbance (Q1295014)

A discrete adaptive sliding mode control for a state-space system in the presence of a bounded disturbance is proposed. The delta form of the discrete state-space is used to select the sliding surface to be similar to the one in the continuous case. The control law takes into account the effect of the uncertainty by using a suitable approximate value of the disturbance. The behavior of the system is studied in the vicinity of the sliding surface. It is shown that the closed-loop system is stable and the deviation from the sliding surface is bounded. The features of the proposed control scheme are illustrated by simulation results.