A discrete-time sliding mode scheme with constrained inputs

C Edwards, G Herrmann, B Hredzak, V Venkataramanan, SK Spurgeon

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

9 Citations (Scopus)


A novel approach for the design of a discrete-time sliding mode controller is presented using a singular LQR approach. The weighting of the control signal is set to zero and dead-beat behaviour for the sliding mode reaching dynamics is achieved. By analogy with continuous-time sliding mode control, the reaching dynamics are modified when the states are a significant distance away from the sliding surface to avoid any high magnitude control action due to the partial dead-beat approach. The control law also takes into account constraints on the actuator amplitudes and a stability analysis is presented using a discrete-time version of the Popov criterion.
Translated title of the contributionA discrete-time sliding mode scheme with constrained inputs
Original languageEnglish
Title of host publication46th IEEE Conference on Decision and Control, New Orleans, USA
Pages3023 - 3028
Number of pages6
Publication statusPublished - Dec 2007

Bibliographical note

Conference Organiser: IEEE


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