Variable structure control of nonlinear sampled data systems by second order sliding modes (Q4938973)

The paper is concerned with the sliding mode control of a class of uncertain nonlinear feedback linearizable systems with a control task consisting in steering to zero the state vector components in the presence of their uncertain dynamics and of their incomplete measurability. As a result, the sliding variable has to be chosen so that the control input acts on its second time derivative. To deal with this problem the discrete model is derived and a digital variable structure control based on a dead-beat like procedure involving the discrete-time equivalent control concept is proposed. Then a different control strategy based on a piecewise constant approximation of the continuous-time equivalent control is discussed. Both procedures guarantee the same accuracy of order \({\mathcal O}(T^3)\). Simulation results for a model system are presented. For the entire collection see [Zbl 0922.00035].