Chattering-Free Reaching Law Based Discrete-Time Sliding Mode Repetitive Control

This paper deals with the tracking control problem of uncertain discrete-time system subject to periodic disturbance. A new discrete-time sliding mode repetitive control is applied to address the control problem. The periodic disturbance is rejected completely by a measure of the periodic disturbance compensation, which is embedded in the chattering-free power reaching law. To characterize the system tracking performance, the absolute attractive layer (AAL) band, the quasi-sliding mode (QSM) band, and the monotone decreasing region (MDR) bound are derived respectively. A numerical example verifies the effectiveness of the presented method.