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Discrete Time Sliding Mode Control Scheme for Nonlinear Systems With Bounded Uncertainties

Author

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  • Jalel Ghabi

    (Higher Institute of Applied Sciences and Technology of Kairouan, University of Kairouan, Kairouan, Tunisia)

  • Ahmed Rhif

    (Higher Institute of Applied Sciences and Technology of Kairouan, University of Kairouan, Kairouan, Tunisia)

  • Sundarapandian Vaidyanathan

    (R & D Centre, Vel Tech University, Chennai, India)

Abstract

This article introduces a sliding mode controller to stabilize a discrete-time nonlinear system in the presence of uncertainties and external disturbances. The proposed controller is derived to guarantee the existence of a quasi-sliding mode, taking into account the upper bound of uncertainties. With this method, a recursive switching function is used, which allows for recovering lost invariance and robustness properties of a discrete sliding mode control. As for the system stability, it is found that the system is stabilized and finally restricted to a known region. This control scheme ensures robustness against parametric uncertainties and external disturbances as well as the elimination of chattering. In this article, after a detailed formalization of the proposed control design, a numerical example for an inverted pendulum is considered, proving the effectiveness of the control methodology.

Suggested Citation

  • Jalel Ghabi & Ahmed Rhif & Sundarapandian Vaidyanathan, 2018. "Discrete Time Sliding Mode Control Scheme for Nonlinear Systems With Bounded Uncertainties," International Journal of System Dynamics Applications (IJSDA), IGI Global, vol. 7(2), pages 15-33, April.
    • Handle: RePEc:igg:jsda00:v:7:y:2018:i:2:p:15-33
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    Cited by:

    1. Jaffar Seyyed Esmaeili & Abdullah Başçi, 2021. "Design and Implementation of LMI-Based H2 Control for Vertical Nonlinear Coupled-Tank System," International Journal of System Dynamics Applications (IJSDA), IGI Global, vol. 10(4), pages 1-16, October.

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