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Digital implementation of sliding-mode control via the implicit method: A tutorial
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DOI：10.1002/rnc.5121.png)
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Abstract
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The objective of this article, is to provide a clear presentation of the discretization of continuous-time sliding-mode controllers, also known in the automatic control literature as the emulation method, when the implicit (backward) Euler scheme is used. First-order, second-order, and homogeneous controllers are considered. The main theoretical results are recalled in each case, and the focus is put on the discrete-time implementation structure and on the algorithms which allow the designer to solve, at each time-step, the one-step generalized equations which are needed to compute the controllers. The article ends with some open issues.
Keywords:
discrete-time
homogeneous systems
sliding-mode control
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