Digital second-order sliding mode control for uncertain nonlinear systems
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The discrete-time implementation of a second-order sliding mode control (2-SMC) scheme is analyzed. In Section 2, the control problem is formulated. In Section 3, the direct discretization of a continuous-time 2-SMC scheme is analyzed, and sufficient conditions for the finite-time reaching of an \(O(T^2)\)-vicinity of the sliding manifold are derived. In Section 4, sufficient conditions under which a sliding motion occurs in an \(O(T^3)\) boundary layer of the desired manifold are derived. Simulations confirm the effectiveness of the proposed method.
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