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Paper details
Number 3 - September 2020
Volume 30 - 2020
Discrete-time sliding mode control of linear systems with input saturation
Boban Veselić, Čedomir Milosavljević, Branislava Peruničić-Draženović, Senad Huseinbegović, Milutin Petronijević
Abstract
of the fast response without overshoot and strong robustness to matched disturbances. The system input saturation is
imposed during the design due to inevitable limitations of most actuators. The system disturbances are compensated by
employing nonlinear estimation by integrating the signum of the sliding variable. Hence, the proposed control structure
may be regarded as a super-twisting-like algorithm. The designed system stability is analyzed as well as the sliding manifold
convergence conditions are derived using a discrete-time model of the system in the δ-domain. The results obtained theoretically have been verified by computer simulations.
Keywords
discrete-time sliding mode control, super-twisting controller, input saturation, disturbance compensation