Digital implementation of sliding-mode control via the implicit method: a tutorial. (English) Zbl 1526.93144
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.
{© 2020 John Wiley & Sons, Ltd.}
{© 2020 John Wiley & Sons, Ltd.}
MSC:
| 93C62 | Digital control/observation systems |
| 93B12 | Variable structure systems |
| 93C55 | Discrete-time control/observation systems |
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