Abstract
A sliding mode control method is presented for discrete-time systems. The switching surface is defined by using only output and its delayed signals. In the sliding mode, the closed-loop eigenvalues are proved to be within the unit circle in the z-plane. Therefore, the stability of the control system is guaranteed and robust output performance is ensured with the presented switching surface design. In special cases, a transformation can be made to convert the control system into a form of system with time-delayed inputs. It is verified that the proposed discrete control method indeed assures the robustness against system uncertainties and disturbances.
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