On discretization of high-order sliding modes

Arie Levant, Miki Livne, Davin Lunz

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

13 Scopus citations

Abstract

Output-feedback high-order sliding-mode (HOSM) controls include HOSM-based differentiators and, therefore, possess complicated discontinuous dynamics. Their practical application naturally involves discrete noisy output sampling and numeric integration of the internal variables. Resulting hybrid systems are shown to be stable, and the corresponding asymptotic sliding-mode accuracies are calculated in the presence of Euler integration and discrete sampling, whereas both might feature variable or constant time steps. Discrete differentiators are developed which restore the optimal accuracy of their continuous-time counterparts. Numeric criteria detect the end of the differentiator transient. Simulation confirms the presented results.

Original languageEnglish
Title of host publicationRecent Trends in Sliding Mode Control
PublisherInstitution of Engineering and Technology
Pages177-206
Number of pages30
ISBN (Electronic)9781785610776
ISBN (Print)9781785610769
DOIs
StatePublished - 1 Jan 2016

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