An approach to discrete-time sliding mode control

This work presents a technique of discrete-time sliding mode controller design for assigning eigenvalues of sliding mode and determining a convergence rate to sliding surface. Firstly the sliding mode coefficient is designed via Ackermann´s formula. Then a linear controller is designed to enforce sliding mode such that the resulting closed-loop yields the desired eigenvalues. As we use a linear control instead of nonlinear control for reaching mode, control chattering does not happen. Simulation and experimental results are included to show the effectiveness of proposed method.