Abstract
In order to improve convergence rate while retaining smooth control action soft Variable Structure Control (VSC) can be considered. The classical formulation of soft VSC in continuous time domain assumes smooth switching among an infinite number of controllers. In now commonplace digital implementation changing the control structure is limited to sampling instances, leading to a quasi-soft control system. This paper explores the possibility of extending the favorable characteristics of dynamic soft VSC to the input-constrained systems with finite sampling. The design procedure and stability analysis are conducted directly in discrete time domain. The properties of the proposed controller are formally proved and illustrated by numerical tests. Comparison with discrete sliding-mode control is provided.
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