Discrete Predictive Sliding Mode Control for multivariable systems

This paper shows the development of a Discrete Predictive Sliding Mode Controller (DPSMC) for multivariable systems. This is an extension of our previous works synthesized in the case of single input single output. The multivariable DPSMC consists on two loops, the primary loop is a Sliding Mode Control (SMC) and the secondary loop is a Model Predictive Control (MPC). This type of scheme improves the performances of the SMC and the MPC controllers. Simulation results demonstrate that the DPSMC gives better performances, for multivariable systems, in terms of strong robustness to external disturbance and parameters variation, chattering elimination and fast con- vergence, in comparaison with the SMC.