Discrete time integral sliding mode control for overhead crane with uncertainties

This study firstly addresses an integral sliding mode control method for discrete time systems. The underlying continuous system is affected by both matched and unmatched uncertainties. The past value of the disturbance signal is taken as the estimate of its present value. The sliding mode controller is designed to ensure the existence of sliding mode in the presence of uncertainties. The proportional part is designed based on the analysis of closed-loop stability conditions. The controller design theory above is applied to an overhead crane system in later sections. The overhead crane system, which is a familiar control problem is described by a linear model, the parameters of which are estimated. It is affected by uncertainties such as friction, swing of the load and non-linearities because of changing rope length. Both simulation and experimental results are reported. The efficacy and robustness of the proposed controller are demonstrated.