Abstract
Reaching law based discrete-time sliding mode control strategies are an efficient way of ensuring good robustness of the system with respect to uncertainties. However, since such strategies rely on a recursive formula of the system state, their performance can be gradually deteriorated by the effect of disturbance in each discrete step. This can negatively affect the length of the reaching phase, as well as increase the quasi-sliding mode band width in the sliding phase. In order to remedy this issue, we propose the use of a model reference strategy. In each step, this strategy drives the representative point of the plant to a specific reference point obtained from the model. As a result, residual effect of past uncertainties on sliding motion of the system is eliminated. Furthermore, model reference approach allows one to bypass the assumption about matching conditions, which is otherwise necessary in many cases.
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Latosiński, P. (2021). Advantages of Using a Reference Model of the Plant in Discrete-Time Sliding Mode Control. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques. AUTOMATION 2021. Advances in Intelligent Systems and Computing, vol 1390. Springer, Cham. https://doi.org/10.1007/978-3-030-74893-7_7
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DOI: https://doi.org/10.1007/978-3-030-74893-7_7
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