Integral sliding mode predictive control with disturbance attenuation for discrete‐time systems

In this paper, the output tracking control is addressed for discrete‐time multi‐input‐multi‐output nonlinear systems subjected to external disturbance by a novel output‐based discrete‐time integral sliding mode predictive control scheme. First of all, a control law is proposed based on a new type of discrete‐time integral sliding mode surfaces. To further improve control accuracy, an integral sliding mode predictive control law is obtained in combination with the designed integral sliding mode control and model predictive control. Rigorous analysis is provided to demonstrate that the quasi‐sliding‐mode band width and ultimate bound of output tracking error under the designed discrete‐time integral sliding mode predictive control law are of higher accuracy than those under the designed integral sliding mode control law. Numerical simulations are performed to illustrate that the presented integral sliding mode predictive control law offers better performance than the proposed integral sliding mode control law.