Analysis of Delayed Sliding Mode Control Systems Under Zero-Order Holder Discretization

Zero-order holder discretization effects in sliding mode control systems with an input delay are studied. Stability conditions are formulated. Conditions for the existence of periodic solutions are derived and the existence of periodic steady states is investigated. The influence of the discretization step and the delay on the period and the amplitude of steady state oscillations is discussed. Structure of basins of attraction of periodic orbits with different switching patterns is studied. Simulation results are presented to illustrate various behaviors.