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Robust discrete-time chattering free sliding mode control. (English) Zbl 0985.93007
Summary: A new control algorithm based on discrete-time variable structure systems theory is proposed. The basic feature of this algorithm is that trajectories reach the sliding manifold in finite time, without chattering. Apart from stability, the robustness of the algorithm with respect to parameter uncertainties, as well as external disturbances, is considered. It is demonstrated that the robustness is improved by decreasing the sampling period. The theory is illustrated on a DC servo-position system.

MSC:
93B12 Variable structure systems
93D21 Adaptive or robust stabilization
93C55 Discrete-time control/observation systems
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