A Novel Discrete Sliding Mode Controller for MIMO Complex Nonlinear Systems With Uncertainty*

This article proposes a model-free adaptive-based discrete terminal sliding mode control (MFA-DTSMC) strategy for the multi-input multi-output (MIMO) complex nonlinear systems with model uncertainty and the existence of uncertain external disturbance. Firstly, the compact form dynamic linearization (CFDL) model of system is used to deal with the part of model-free adaptive, and pseudo-Jacobin matrix (PJM) estimation algorithms only depend on the data of system. The disturbance estimation algorithm is utilized to resolve the problem of disturbance of the system. Further, by utilizing the discrete terminal sliding mode control (DTSMC), the MIMO MFA-DTSMC strategy is proposed to improve the control performances which are tracking accuracy and inhibit disturbance. Finally, a two-tank system is used as a typical example, the simulation results confirm that the MFA-DTSMC strategy proposed has good performances than the traditional sliding mode control (SMC) method.