Discrete adaptive sliding-mode tracking controller (Q1360500)

First a known single-input single-output discrete system is considered and a sliding-mode controller is presented. Next, an adaptive control of a minimum-phase plant in the presence of unknown but bounded disturbance is proposed. The control law is of non-switching type and leads to a closed-loop adaptive system. The system behaviour in the vicinity of the sliding surface is studied. It is shown that the adaptive controller is robust with respect to the considered disturbances. Some simulation results are presented to illustrate the features of the proposed scheme.