Discrete time reaching law based sliding mode control: a survey

The reaching law approach comprises of first specifying the required evolution of the sliding variable. Then, a sliding mode controller that enforces this evolution is designed. The main advantage of this method with respect to “classical” sliding mode control is better control of the plant dynamics and state constraints during the reaching phase. In this paper, a review of a number of new works on reaching laws for discrete time systems is presented. The differences and similarities between them are discussed.