Discrete-Time Sliding Mode Control System Design with Frequency Shaping

Discrete-time sliding mode control is a realistic approach for implementation on digital processors and chattering reduction. A frequency shaping technique enables us to design more detailed hyperplanes and has been used for many vibration reduction problems. This paper deals discrete-time sliding mode control with frequency shaping and gives a design procedure. The performance analysis of tracking and disturbance rejection is shown. Based on the analysis, the design policy of an appropriate switching gain and sampling interval is proposed.