Observer-Based Discrete-Time Sliding Mode Controller for Benchmark Problem

Abstract

The discrete-time sliding mode controllers reported in the past had neglected the computational delay that is inherent in any digital implementation. An observer-based discrete-time sliding mode controller was suggested to explicitly account for this delay. The design and analysis of an observer-based discrete-time sliding-mode control system is illustrated using a rotational inverted pendulum. A detailed simulation, that includes computational time delay, sampling process and quantization effects, show that the proposed controller perform well in the presence of modeling errors.