Digital sliding mode tuning control using a fuzzy mechanism

In a sampled-data system, the sliding mode control output can change only at the sampling instants. The system state deviates from the sliding surface unavoidably. Discrete-time implementation of the switching type continuous-time sliding mode controller causes system chatterings. An idea of a non-switching type of discrete equivalent control is proposed for chattering elimination. In this paper, a fuzzy mechanism is introduced into the digital sliding mode control design. The proof and a numerical example show that the goal of the discrete-time sliding mode is attained successfully.