A Discrete-Time Output Feedback Terminal Sliding Mode Control Approach for SISO Systems

This paper proposes an output feedback discrete-time terminal sliding mode control (DT-TSMC) approach for single-input single-output (SISO) systems. The approach follows a chatter-free design that incorporates a delay disturbance observer to handle exogenous disturbances. It is shown via rigorous stability analysis that the term with the fractional power plays a role during the steady state phase of the response and that an error of O(T
²
) can be achieved. The paper concludes with a simulation example that shows a comparison of the proposed DT-TSMC with a classical discrete-time sliding mode control (DT-SMC) approach. The results show that for a similar transient response, DT-TSMC produces better steady state performance.