제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Variable Structure Control for Discrete-time Nonlinear Systems

  • Han, So-Hee (Dept. of Control and Instrumentation Eng., Korea Univ.) ;
  • Cho, Byung-Sun (Dept. of Control and Instrumentation Eng., Korea Univ.) ;
  • Park, Kang-Bak (Dept. of Control and Instrumentation Eng., Korea Univ.)
  • Published : 2003.10.22
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Abstract

In this paper, sliding mode controller for discrete-time nonlinear systems with uncertainties and disturbances are proposed. The concept of time-delay control (TDC) which consists of estimating the uncertain dynamics of the system through past observations of the system response is used. The proposed controller guarantees that the closed-loop system states are globally uniformly ultimately bounded (GUUB). It is also shown that the closed-loop system states are globally uniformly asymptotically stable (GUAS) if uncertainties are constant.

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