Discretised integral sliding mode control for systems with uncertainty [Brief Paper]

This study addresses discretised integral sliding mode control for systems with uncertainty. Analysis is based on the assumption that a continuous integral sliding mode controller has been designed using previously reported methods. The aim of this study is to find out under what conditions the system still behaves satisfactorily if the controller is implemented with a finite step size. The quasi sliding mode behaviour and the closed-loop stability under equivalent control are considered. This study provides guidance to the design of continuous controllers for later computer control realisation.