Model free adaptive integral sliding mode control based on disturbance observer for a class of SISO nonlinear discrete systems

Abstract

In this paper, a model free adaptive integral sliding mode control (MFAISMC) algorithm is proposed for a class of single-input single-output (SISO) nonlinear discrete systems subject to external disturbance. The nonlinear system is converted to a time-varying linear model by dynamic linearization. A sliding mode disturbance observer is developed to estimate the uncertainty accurately. The integral sliding mode control algorithm is designed to enhance the robustness of the system. The proposed algorithm reduces the chattering. The stability of the system is proved and a simulation example is presented to demonstrate the effectiveness of the proposed method.