Discrete Time Sliding Mode Control of Nonlinear Uncertain Systems Based on Estimation of Uncertainties and External Disturbances

In this paper, a new variable structure control algorithm for a class of discrete time nonlinear uncertain systems is proposed. By using an estimator of uncertainties and external disturbances, the proposed algorithm ensures the stability of the closed loop system as well as the reference tracking. The controller designed using the above technique is completely insensitive to the parametric uncertainty and the external disturbances. Simulations are carried out on an inverted pendulum benchmark and the yielded results confirm the effectiveness of our proposition

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