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

• Published in: International journal of robust and nonlinear control Vol. 31; no. 9; pp. 3528 - 3586
• Main Authors: Brogliato, Bernard, Polyakov, Andrey
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 01.06.2021; Wiley
• Series: Special 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

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...