Discrete sliding mode control with time-varying switching gain for hammerstein nonlinear systems

Designing a robust controller for nonlinear discrete-time systems, described by block-oriented models, becomes an active area for research in automatic theory. In this paper, two techniques are proposed: the first one is based on developing a discrete sliding mode control for a generalized Hammerstein mathematical model. The second one consists in replacing the constant switching gain of the discontinuous term in the proposed nonlinear sliding mode control by an adaptive one using an appropriate adaptation philosophy. Simulation example is reported at the end of the paper to prove the effectiveness of the proposed methods.