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Digital implementation of sliding‐mode control via the implicit method: A tutorial
Author(s) -
Brogliato Bernard,
Polyakov Andrey
Publication year - 2021
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.5121
Subject(s) - discretization , emulation , computer science , focus (optics) , sliding mode control , scheme (mathematics) , mode (computer interface) , control theory (sociology) , control (management) , control engineering , euler's formula , backward euler method , algorithm , mathematics , artificial intelligence , nonlinear system , engineering , mathematical analysis , physics , quantum mechanics , optics , economics , economic growth , operating system
Summary The objective of this article, is to provide a clear presentation of the discretization of continuous‐time sliding‐mode controllers, also known in the automatic control literature as the emulation method, when the implicit (backward) Euler scheme is used. First‐order, second‐order, and homogeneous controllers are considered. The main theoretical results are recalled in each case, and the focus is put on the discrete‐time implementation structure and on the algorithms which allow the designer to solve, at each time‐step, the one‐step generalized equations which are needed to compute the controllers. The article ends with some open issues.