Robust adaptive quasi-sliding mode controller for discrete-time systems

In this paper, a discrete robust quasi-sliding mode adaptive controller is presented for the system with model uncertainties, unmodeled dynamics and b ounded disturbances. The proposed method is adaptive control in conjunction with a sliding mode based controller design. The bounded motion of the sta te around the sliding surface and the stability of the global system in the sense that all signals remain bounded are guaranteed. In the proposed adap tive algorithms, the dead-zone method is employed even though the upper and lower bounds of the disturbances are unknown. Simulation results have show n the effectiveness of the proposed algorithms. (C) 1998 Elsevier Science B .V. All rights reserved.