Attractiveness and Invariance Assessments of Dead-Beat Sliding-Mode Control With Power Rule

This brief presents a dead-beat sliding-mode control design with the variable difference representation, and the control scheme with power rule improving the convergence rate of the tracking error itself and attenuating the chattering. To characterize the transient and steady-state performance, the attractiveness and invariance assessments are conducted, including the absolute attractive layer and the steady-state error band, by which the control parameters can be appropriately selected to assure a smaller steady-state error. Furthermore, the monotonic convergence condition is given, under which the tracking error converges monotonically and the overshoot phenomenon can be effectively addressed. Numerical and experimental results are presented to validate effectiveness of the presented control scheme.