Design of a Robust Discrete Time Sliding Mode Controller With Dynamic Switching Gain

Abstract

The discrete time sliding mode control (DTSMC) is the prominent robust control technique used in the field of control engineering. In this work, a modified adaptive switching gain for DTSMC technique is proposed. The proposed method is compared with prevalent control laws and recently designed dynamic adaptive switching gain control law. The selection of the dynamic adaptive switching gain plays an important role in stabilizing the state variables of the system. The gain adaption parameters are introduced to speed up the rate of adaption of the switching constant. The numerical simulation were performed using the second order system and simple pendulum shows the proposed control method effectively rejecting uncertainties with stabilization of the system response.