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An adaptive sliding-mode controller for discrete nonlinear systems

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2 Author(s)
Munoz, D. ; Dept. of Electr. Eng., Univ. de Concepcion, Chile ; Sbarbaro, D.

This paper presents a sliding-mode controller for a class of nonlinear discrete-time systems. The proposed controller uses a modified switching function that produces a low-chattering control signal. In order to improve the controller performance, an adaptive term is added to the original sliding-mode algorithm. This new feature uses an artificial neural network for online identification of the modeling error. Simulations and experimental results illustrate the main characteristics and performance of this approach,

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Industrial Electronics, IEEE Transactions on  (Volume:47 ,  Issue: 3 )