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The paper studies sliding mode (SM) features in systems characterized by the presence of unmatched disturbances. Although it is possible to establish a SM in such systems, the unmatched part of disturbances has impact on the SM dynamics. Under these circumstances system trajectory does not converge to the origin but wanders in its neighborhood along the sliding manifold. This paper offers a sliding...
A new control algorithm based on discrete-time variable structure systems theory is proposed. The basic feature of this algorithm is that trajectories reach the sliding manifold in finite time, without chattering. Apart from stability, the robustness of the algorithm with respect to parameter uncertainties, as well as external disturbances is considered. It is demonstrated that the robustness is improved...
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