On discrete time terminal sliding mode control for nonlinear systems

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 zero by a reaching controller, the rest ones converge to zero due to the influence of a power rule. Due to the characteristic of discrete time sliding mode, the conditions of finite time reachability of the sliding manifolds and convergence of states are addressed. An illustrative example is given at the end to prove the efficacy of proposed methods.