A nonlinear sliding surface for discrete-time uncertain systems

This paper proposes a discretization behavior of nonlinear sliding surface based algorithms. Recently nonlinear surfaces are proposed by the authors to improve transient performance of continuous and discrete-time uncertain systems. The nonlinear surface changes system's closed loop damping ratio as output approaches the setpoint. In this paper we propose a nonlinear surface for the system represented by delta operator approach which unifies our continuous-time and discrete-time results.