| Title |
A New Robust Discrete Integral Variable Structure Controller with Disturbance Observer for Uncertain Discrete Systems |
| Keywords |
Discrete integral variable structure system ; Digital sliding mode control ; Disturbance observer |
| Abstract |
In this paper, a new discrete integral variable structure controller based on the a new sliding surface and discrete version of the disturbance observer is suggested for the control of uncertain linear systems. The reaching phase is completely removed by introducing a new proposed integral sliding surface. The discrete version of disturbance observer is derived for effective compensation of uncertainties and disturbance. A corresponding control with disturbance compensation is selected to guarantee the quasi sliding mode on the predetermined integral sliding surface for guaranteeing the designed output in the integral sliding surface from any initial condition for all the parameter variations and disturbances. Using Lyapunov function, the closed loop stability and the existence condition of the quasi sliding mode is proved. Finally, an illustrative example is presented to show the effectiveness of the algorithm. |