On ZOH Discretization of Higher-Order Sliding Mode Control Systems

In this paper, the zero-order-hold (ZOH) discretization of higher-order sliding mode control (SMC) systems is studied. The equivalent control based SMC systems with relative degree higher than one is first formulated into a canonical form which is easy for control design. Theoretical results for the ZOH-discretized SMC systems with relative degree higher than one are given, including accurate estimates of the bounds of steady states and higher order sliding mode functions. Simulation results are presented to show the effectiveness of the analysis.

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