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ON CHATTERING-FREE DISCRETE-TIME SLIDING MODE CONTROL DESIGN

A sliding mode control method is presented for linear multi-variable discrete-time systems, without introducing a discontinuous term to eliminate control chattering. Instead of a strong nonlinear function like switching introducing chattering problem in discrete-time, a linear control is designed around the sliding surface. Although not producing a strong acting control around the sliding surface, the discrete-time controller which becomes linear in the boundary layer is shown to deliver a bounded motion about the sliding surface even in the presence of plant uncertainties. An application example demonstrates excellent sliding mode behavior with a bounded motion about the sliding surface while eliminating control chattering. Copyright c ©2005 IFAC