2-Order discrete-time sliding-mode tracking control for DC motor in NCSs with random delay

Acorrding to tracking control of direct current (DC) motor in networked control systems (NCSs) with random delay and considering the controlled plant with disturbance. A 2-order discrete-time sliding-mode trancking control (2-DSMTC) is proposed. Firstly, a new discrete-time sliding-mode function is established on the tracking error and tracking error difference. Then, the 2-DSMTC is designed on the disturbance estimated value as weight factors, Furthermore, the networked predictive control (NPC) algorithm on 2-DSMTC is presented. Finally, a simulation experiment of DC motor verifies the effectiveness of the proposed method.