Output feedback sliding mode control of uncertain discrete-time systems

This paper presents a new approach for sliding mode control (SMC) of uncertain discrete-time systems based on the power-function reaching law approach together with the multirate output feedback technique. Theory proves that the method can eliminate the chattering of discrete-time sliding mode control systems and strongly guarantee the system robust performance. The method uses only input and output samples to design the discrete sliding mode controller and can alleviate the complexity of the whole system. Simulation results state that there is no chattering in the output of controller, the value of switching function, and the output of the controlled system. This algorithm also makes the controlled system achieve excellent dynamic performance.