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Chattering-Free Digital Sliding-Mode Control With State Observer and Disturbance Rejection

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3 Author(s)
Acary, V. ; BIPOP project-team, INRIA Grenoble Rhone-Alpes, St. Ismier, France ; Brogliato, B. ; Orlov, Y.V.

In this paper, a novel discrete-time implementation of sliding-mode control systems is proposed, which fully exploits the multivaluedness of the dynamics on the sliding surface. It is shown to guarantee a smooth stabilization on the discrete sliding surface in the disturbance-free case, hence avoiding the chattering effects due to the time-discretization. In addition, when a disturbance acts on the system, the controller attenuates the disturbance effects on the sliding surface by a factor h (where h is the sampling period). Most importantly, this holds even for large h . The controller is based on an implicit Euler method and is very easy to implement with projections on the interval [-1, 1] (or as the solution of a quadratic program). The zero-order-hold (ZOH) method is also investigated. First- and second-order perturbed systems (with a disturbance satisfying the matching condition) without and with dynamical disturbance compensation are analyzed, with classical and twisting sliding-mode controllers.

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Automatic Control, IEEE Transactions on  (Volume:57 ,  Issue: 5 )