Discrete-time variable structure control systems

This paper presents a treatment of discrete variable structure control systems. The purpose is to lay a foundation upon which design of such type of systems can be made properly. Phenomena of switching, reaching, and quasi-sliding mode are investigated thoroughly. Terms pertaining to discrete variable structure control are defined. A method of quasi-sliding mode design is given. The inherently existing quasi-sliding mode band is analyzed. A recently introduced “reaching law approach” is conveniently used to develop the control law for robust control. Comments are given regarding chattering. The design technique is illustrated by a simulated system