Abstract
Modern practical sliding mode (SM) control (SMC) involves discrete noisy sampling. Standard SMC discretizations feature the chattering effect, while implicit Euler methods need significant model knowledge, constant sampling steps and are difficult in application for higher relative degrees and multiple discontinuities. The proposed universal discretization method is based on the graph approximation of Filippov inclusions. It guaranties convergence to the continuous-time solutions and is computationally-simple. For the first time we demonstrate low-chattering discretization in the presence of large noises and multiple discontinuities.
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