Event-Triggering in Model Reference Quasi-Sliding Mode Control

This study considers a linear discrete time system subject to external disturbances and presents the design of event-triggered sliding mode control. The problem is organized in two main sections. First, we design a model-based reference trajectory. With application of a generalized non-switching type reaching law to the model, we achieve finite time convergence of the reference sliding variable to zero. Next, a model following reaching law is applied to the perturbed system in order to drive its representative point to the demand position in each step. However, we update the designed control signal only when a certain triggering condition is met, therefore implementing an event-triggered control scheme. In the model following approach this condition is based on the error between the reference trajectory and the actual position of the system's representative point. As a result we not only limit the impact of external disturbances on the system but also reduce the need for communication between the system elements and provide more time for the intersampling calculations.