Discrete time output feedback sliding mode control for uncertain systems

Abstract This paper describes a method for designing discrete time static output feedback sliding mode controllers. Previous work has shown that by identifying a minimal set of current and past outputs, an augmented system can be obtained which permits the design of a sliding surface based upon output information only, if the invariant zeros of this augmented system are stable. In this work, a procedure for realizing discrete time controllers via a particular set of extended outputs is presented for systems with uncertainties. This method is applicable when unstable invariant zeros are present in the original system. The conditions for existence of a sliding manifold guaranteeing a stable sliding motion are given. A procedure to synthesize a control law that minimizes the effect of the disturbance on the sliding surface and the augmented outputs is given. The proposed control law is then applied to a motivational example.

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