Digital implementation of sliding‐mode control via the implicit method: A tutorial

Summary The objective of this article, is to provide a clear presentation of the discretization of continuous‐time sliding‐mode controllers, also known in the automatic control literature as the emulation method, when the implicit (backward) Euler scheme is used. First‐order, second‐order, and homog...

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Bibliographic Details
Published inInternational journal of robust and nonlinear control Vol. 31; no. 9; pp. 3528 - 3586
Main Authors Brogliato, Bernard, Polyakov, Andrey
Format Journal Article
LanguageEnglish
Published Bognor Regis Wiley Subscription Services, Inc 01.06.2021
Wiley
SeriesSpecial Issue: Homogeneous Sliding‐Mode Control and Observation
Subjects
Algorithms
Automatic
Automatic control
Controllers
discrete‐time
Engineering Sciences
homogeneous systems
Implicit methods
Mathematics
Optimization and Control
Sliding mode control
homogenous systems
control
discrete-time
super-twisting
sliding-mode
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Summary:Summary The objective of this article, is to provide a clear presentation of the discretization of continuous‐time sliding‐mode controllers, also known in the automatic control literature as the emulation method, when the implicit (backward) Euler scheme is used. First‐order, second‐order, and homogeneous controllers are considered. The main theoretical results are recalled in each case, and the focus is put on the discrete‐time implementation structure and on the algorithms which allow the designer to solve, at each time‐step, the one‐step generalized equations which are needed to compute the controllers. The article ends with some open issues.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.5121