Robust control design using discrete sliding mode control for uncertain systems

In this paper, continuous-time sliding mode control based on the recently developed inertial delay control is extended to the discrete-time case. A notable feature of the proposed control is that it affords control over the magnitude of the quasi-sliding for a given sampling period. The use of the δ-operator in conjunction with a new sliding mode condition derived in this paper, enables complete and seamless unification of the sliding condition, control law and the underlying inertial delay control.