On Sliding Mode Control with time varying switching hyperplane for vertical driving arm

This research aims to construct sliding mode control (SMC) system that decreases chattering in controlled object of discrete time system. In conventional SMC, chattering has been generated by turbulence's influencing the state, and repeating operation that jumps over switching hyperplane. Then, we thought about switching hyperplane that always moved according to the change in the state. The feature is that the equal output is obtained, even if input is decreased by making a nonlinear input to 0. In this paper, a simulation is performed using a vertical driving arm and the stability and validity of the proposal method are considered.