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A Two-surface Discrete Sliding Mode Control based on Approach Angle Reaching Law

Sliding mode controllers are known to be robust to parameter changes, disturbances and uncertainties. In this paper a novel discrete time sliding mode controller with two surfaces is proposed to improve the speed of response. Here, approach angle reaching law is used to take the trajectory to the surfaces. The advantage is that the system trajectory is bought to the first surface with maximum velocity thereby shortening the reaching phase. The scheme assures robustness, asymptotic stability and fast transients with minimum chattering.