Discrete-Time Sliding Mode Control With Disturbance Rejection

In this paper, the problem of sliding mode control for a class of discrete-time system is addressed. A disturbance observer is embedded in the controller to achieve active disturbance rejection. For systems with matched and mismatched disturbances, by Lyapunov stability and H
_∞
approach, the sliding surfaces are derived, and the sliding mode controllers are designed by a modified reaching law approach to actively counteract disturbances. Verification examples are presented to demonstrate the effectiveness and potential of the proposed new design schemes.