On discrete time terminal sliding mode control for nonlinear systems with Uncertainty

This paper addresses a terminal sliding mode control method for nonlinear discrete time systems. A sequence of nonlinear sliding manifolds is designed. After the last one in this sequence is forced to the vicinity of the origin by a reaching controller, the rest are proved to stay bounded under the influence of a power rule. Allowing for the characteristics of discrete time sliding mode, the sizes of the quasi sliding bands are studied. An illustrative example is given at the end to prove the efficacy of proposed methods.