The Novel Sliding Mode Controller for Discrete-time System with Multi-Input

다중입력 이산치계통에 대한 새로운 슬라이딩 모드 제어기의 설계

In this paper, new sliding mode surfaces are proposed by defining novel virtual states. These sliding surfaces have nominal dynamics of an original system and makes it possible that the Sliding Mode Control(SMC) technique is used with the various types of controllers. Its design is based on the augmented system whose dynamics have m-th higher order than those of the original system where m is the number of inputs. The reaching phase is removed by setting the initial virtual states which makes the initial switching functions equal to zero.