DISCRETE-TIME ADAPTIVE-CONTROL USING A SLIDING MODE

Adaptive control using a sliding mode in discrete time systems is prop osed as a means of achieving robustness with respect to parameter vari ations, fast tracking to a desired trajectory, and fast parameter conv ergence, without increasing the chattering of the control inputs. We f irst prove the stability of a system in which the control inputs consi st of equivalent control driven by the adaptive control law and bounde d discontinuous control. The discontinuous control driven by the slidi ng control law is then obtained so that the output error quickly conve rges to zero. Finally, the performance improvements obtained by adding the sliding mode control input are shown through computer simulations .