Variable structure predictor controller with quasi-sliding mode for systems with delay

The main feature of variable structure control systems is the sliding mode. In the sliding mode, the eigenvalues of the system are specified and the system enjoys invariance to parameter variations and disturbances. Then, how can one apply this control method to the systems with time delay? In this paper, the discrete variable structure controller is first reviewed and discussed. Combined with the predictor control method, the authors propose a variable structure predictor controller with quasi-sliding mode. Simulation results are presented illustrating the effectiveness of the control method