Indirect adaptive sliding mode control for uncertain discrete Hammerstein systems using inverse nonlinear function

The design of robust controller for an uncertain discrete-time nonlinear systems is considered in this paper. Firstly, a discrete sliding mode control, based on using the inverse of nonlinear function, is proposed. While in the case of relatively high time varying parameters, the implementation of this control law requires the knowledge of parameters's values at each sample time which is not always possible. To resolve this problem, we develop a new indirect adaptive sliding mode control which is based on adapting the parameters of the control law using Matrix Recursive Least Square algorithm (M-RLS). The performances of the proposed strategies are confirmed by simulation example. The related results show that the robust adaptive method provides better performance compared with those given by sliding mode control.