Discrete-time variable structure controller with a decoupled disturbance compensator

The paper proposes a discrete-time variable controller with a decoupled disturbance compensator. The uncertainties and the control of the discrete-timei variable structure control(DVSC) system are divided through designing the decoupled compensator A method of DVSC combining the decoupled disturbance compensator using the variable rate reaching law is proposed, which can realize the robust tracking control of the system. The simulation results are presented to validate the design.