Discrete time sliding mode control for a double tank system

Sliding mode control is a kind of variable structure control method and it has better performance of robustness and anti-disturbance. However, discretizing the continuous sliding mode control and applying it to computer control system will lead to chattering definitely. To solve the question, this paper proposes a new design method for a double tank system according to the design idea of Utkin for linear systems. The stability of the controller is verified by Lyapunov function and the simulation is used to validate design method.