Systems & Control Letters 41 (2000) 1928

www.elsevier.com/locate/sysconle

Robust discrete-time chattering free sliding mode control


Goran Goloa; , Cedomir
Milosavljevicb
a University

of Twente, Faculty of Mathematical Sciences, P.O. Box 217, 7500 AE Enschede, The Netherlands
of Nis, Faculty of Electronic Engineering, Beogradska 14, 18000 Nis, Yugoslavia

b University

Received 1 June 1998; received in revised form 10 April 2000

Abstract
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 nite 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 by decreasing the sampling period. The theory is illustrated on a DC
c 2000 Elsevier Science B.V. All rights reserved.
servo-position system.
Keywords: Discrete variable structure systems; Sliding mode; Robust discrete systems; Chattering

1. Introduction
Continuous-time variable structure control systems (CVSCS) have been extensively studied in the literature
over the past 40 years [2,14]. The basic features of CVSCS are invariance to parameter uncertainties and external disturbances [3], system order reduction, highly predictable behavior, etc. To implement these algorithms,
one often resorts to sampled data systems. However, many implementations developed for CVSCS in a sampled data environment do not achieve the performance one would expect on the basis of the continuous-time
theory [5]. Hence, there is a need to consider discrete-time variable structure control systems (DVSCS).
Over the last 15 years, a few papers have been published in the area of DVSCS. Some of these papers
consider how to map CVSCS into DVCSS, and their emphasis is on discretization [6,1012]. Another line
of research pursues the method of equivalent control, and, based on Lyapunov stability theory, analyzes new
control algorithms [1,5,9,13,15,16].
We propose a new design for DVCSS, which ensures not only that the sliding motion is reached in nite
time but also that chattering is eliminated. The design is based on the reaching law approach, which has been
developed for CVSCS [7]. The control law obtained from the reaching law has two modes: a non-linear and a
linear mode. The non-linear mode steers the system to a vicinity of the sliding manifold, and the linear mode
ensures the sliding manifold is reached in one step and maintains the motion on it after that. This algorithm
was rst implemented for amplitude control of a two-phase triangular oscillator [8].

Corresponding author.
 Milosavljevic).
E-mail addresses: g.golo@math.utwente.nl (G. Golo), milosavljevic@elfak.ni.ac.yu (C.

c 2000 Elsevier Science B.V. All rights reserved.

0167-6911/00/$ - see front matter
PII: S 0 1 6 7 - 6 9 1 1 ( 0 0 ) 0 0 0 3 3 - 5

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G. Golo, C.

20

The paper has been organized in the following way: In Section 2, a discrete-time sliding mode control, with
dead-beat property, is presented. Section 3 discusses the robustness in the presence of parameter uncertainties
and external disturbances, as well as the in uence of the sampling period on the system robustness. Section 4
presents some experimental results.
2. Discrete-time chattering free sliding mode control synthesis
Consider a linear-time-invariant system described by
x(t)
= Ax(t) + bu(t);

(1)

with scalar sample & hold control

kT 6t (k + 1)T; k N0 = {0; 1; 2; : : :}; T 0;

u(t) = u(kT );
n

(2)
nn

is the state transition matrix and

where x R is the state vector, u R is the control signal, A R
b Rn1 . The elements of A and b are known, and x is measurable. We assume that (A; b) is controllable.
An equivalent discrete-time representation is then
x(kT ) = A (T )x(kT ) + b (T )u(kT );
where
A (T ) =

eAT In
;
T

b (T ) =

1
T

Z
0

(3a)

eA b d:

(3b)

Here, x(kT ) stands for forward dierence, i.e. x(kT ) , (x((k + 1)T ) x(kT ))=T . Since the pair (A; b) is
controllable and A (T ) and b (T ) are analytic functions of T , the pair (A (T ); b(T )) is controllable for almost
all choices of T . Let
s = c (T )x;
1n

where c (T ) R

(4)
. It is our intention to impose s = 0 as the sliding motion hyperplane.

Assumption 1. Assume that

c (T )b (T ) = 1:

(5)

This assumption ensures that the relative degree of variable s, seen as an output, with respect to the control
signal u is one (the usual condition of VSCS).
The following relation denes the reaching law ((k) stands for (kT )):
s(k) = (s(k); X (k));

(6a)

where
s(k + 1) s(k)
= c (T )x(k);
T

 

x(k)
x(k)
X (k) =
=
by denition x(0)

= x(0):
x(k)

x(k 1)

(6b)

s(k) ,

(6c)

By substituting (3a) into (6b), and taking into account (5), and solving it for u(k), one obtains
u(k) = c (T )A (T )x(k) (s(k); X (k)):

(7)

The function  will be chosen such that the control law (7) has two modes: a non-linear and a linear one.
The linear mode acts in a vicinity of the sliding hyperplane. That vicinity, denoted by S(T ), is dened by
1 };
S(T ) = {X R2n : s = |c (T )x| T + T1 kxk1 + T2 kxk
Pn
Here, kxk1 denotes 1-norm, i.e. kxk1 = i=1 |xi |.

 0; 1 ; 2 0:

(8)

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G. Golo, C.

21

System (3) with control (7) is transformed into a regular form by the following coordinate transformation:
 
x
; x Rn1 ;
(9a)
x = P1 (T )P2 (T )
s
where [14]

P1 (T ) = [b (T )

a1 (T ) : : : an1 (T ) 1
a (T )
1
0

2
n1
;

A (T )b (T )] .
.
.
.
..
..
..

..

:::

:::

and ai (T ) are the coecients of the characteristic polynomial det(In A (T )),



0(n1)1
In1
;
P2 (T ) =
c1 (T )
1
c(T ) = c (T )P1 (T ) = [c1 (T )

(9b)

1]:

(9c)
(9d)

Provided that the pair (A (T ), b (T )) is controllable, the matrix P1 (T )P2 (T ) is regular. Observe that the last
element of c(T ) is one [14] because P11 (T )b (T ) = [01(n1) 1]T . Indeed,
1 = c (T )b (T ) = c (T )P1 (T )P11 (T )b (T ) = c(T )[01(n1) | 1]T = cn (T ):
Applying transformation (9) to (3), with u(k) dened by (7), and taking in account (6a) one obtains the
regular form




0(n2)1
In2 |0(n2)1
x(k)

+
s(k) = A11 (T )x(k)

+ a12 s(k);
(10a)
x(k)

=
c1 (T )
1
s(k) = (s(k); X (k)):

(10b)

The following theorem establishes the conditions that the mapping  has to satisfy so that the trajectories of
the system reach the sliding hyperplane in nite time.
Theorem 1. Consider the system dened by (3); with control (7). Then; in order that for each initial
condition x(0) Rn ; there exists a number K0 = K0 (x(0)) such that k K0 s(k) = 0; it is sucient that
the function  meets the following conditions;
(i) (s; X ) = s=T; X S(T );
(ii) 0 T(s; X )=s 1; X 6 S(T ).
Proof. If the system is described by (3) and (7), then it may be transformed into (10). If X (k) S(T ), then
s(k) = (s(k + 1) s(k))=T = (s(k); X (k)) = s(k)=T , which implies s(k + 1) = 0. Let X (k) 6 S(T ).
(10b)

Eq. (10b) can be rewritten as

(i)

T(s(k); X (k))
s(k + 1) = s(k) T(s(k); X (k)) = s(k) 1
s(k)


:

(11)

Without loss of generality, it is assumed that s(k) 0. By applying (ii) to (11), it may be proven that
0 s(k + 1) s(k), which in turn implies that s(k), k N0 , is monotonously decreasing and lower bounded
from below. Since (s; X ) = 0 only for s = 0, it follows that limk s(k) = 0. Moreover, the domain S(T )
is reached in nite number of steps, say K0 steps, and on that domain we have that X (K0 ) S(T ), which
implies s(K0 + 1) = 0, and consequently s(K0 + l) = 0, l1.
Remark 1.1. The condition (i) is also a necessary condition for reaching the sliding hyperplane in one step.

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22

Remark 1.2. The mapping  is continuous one in the vicinity S(T ). Hence, the control law is also a continuous function, which will result in a chattering-free system.
Remark 1.3. An example of a function (s; X ) which meets the above-mentioned conditions is


|s|
;  + q|s| sgn(s):
(s; X ) = (s) = min
T

(12)

Here, q;  are the real number such that 06qT 1 and  0. In this case, the corresponding vicinity is
dened by S(T ) = {X R2n : |c (T )x| T=(1 qT )}.
In order to achieve a stable control, we design c (T ) in such way that the zero dynamics, i.e. the behavior
of x(k) when s 0, is such that x converges to zero. If s 0, then the system is described by the relation

x(k)

= A11 (T )x(k):

(13)

(10a)

Obviously, the eigenvalues

of A11 (T ) are only determined by c1 (T ) since the characteristic polynomial is
Pn2
given by Fc () = n1 + i=0 ci+1 (T )i . Assume that the eigenvalues of A11 (T ), which ensure the asymptotic
stability of (13), are given by
ei T 1
; i 0; i 6= j i 6= j ; i; j = 1; : : : ; n 1:
T
Then the elements of c1 (T ) are determined by

Qn1
d i1 j=1 ( j (T )) 
1
ci (T ) =
 :

(i 1)!
di1
i (T ) =

(14)

(15)

=0

Now, the vector c (T ) dening the sliding hyperplane is given by

c (T ) = [c1 (T )| 1]P11 (T ):

(16)

(9d)

3. Robustness considerations
Consider the perturbed system
x(k) = A (T )x(k) +
A (T )x(k) + b (T )u(k) + d (T )f(k);

(17)

where
A (T ) Rnn is a matrix of uncertainties, d (T ) Rn1 , f(k) is a bounded external disturbance with
|f(k)|6 k N0 .
Assumption 2. The matching conditions are assumed by [3]:

A (T ) = b (T )d;
d (T ) = b (T ):

d = [d1 d2 : : : dn ];

|di | 6 dm ;

i = 1; 2; : : : ; n;

(18)
(19)

Observe that if in the continuous-time system the matching conditions are met, then this does not mean that
those conditions will be necessarily met in the discrete time system. This is due to the fact that sample and
hold is applied on the control variable but not on the disturbances. However, the parts that do not meet the
matching conditions are proportional to T , so it is reasonable to neglect the impact of these terms for a small
T [16].
Due to the sample=hold eect, complete disturbance rejection is not possible in sampled-data systems but it
is possible to steer the trajectories to the vicinity of the sliding hyperplane. Theorem 2 discusses the transient
phase and gives sucient conditions for reaching the vicinity of sliding hyperplane in nite time, as well as
for maintaining the motion of the system on the sliding hyperplane.

 Milosavljevic / Systems & Control Letters 41 (2000) 1928

G. Golo, C.

23

Theorem 2. Consider the perturbed system (17) with control (7). Assume that the matching conditions
(18) and (19) are satised. Then; in order that for each initial condition x(0) Rn ; there exists a number
K0 = K0 (X (0)) such that kK0 X (k) S(T ); where S(T ) is dened by (8); it is sucient that the
following conditions are met;
(i) (s; X ) = s=T; X S(T );
(ii) T (dm kxk1 + )=|s| T(s; X )=s 1; X 6 S(T ); 1;
(iii)  ; 2 dm :
Proof. By using (17), (7), and taking into account (18) and (19), one may obtain that
s(k) = c (T )x(k) = c (T )A (T )x(k) + c (T )b (T )(u(k) + d x(k) + f(k))
(6b)

= (s(k); X (k)) + dx(k) + f(k):

(20)

(5);(7)

Eq. (20) can be rewritten as

s(k + 1) = s(k) T(s(k); X (k)) + T dx(k) + Tf(k):

(21)

|dx(k) + f(k)|6|dx(k)| + |f(k)|6dm kx(k)k1 + ;

(22)

|dx(k) + f(k)| 6 dm kx(k)k1 +  + 1 kx(k + 1)k1  + 1 kx(k + 1)k + 2 kx(k)k:

(23)

Also,

(iii)

(22)

First, let X (k) S(T ). In that case, from (21), (i) and (23) it is found that
|s(k + 1)| = |T dx(k) + Tf(k)| T + 1 T kx(k + 1)k1 + 2 T kx(k)k1 X (k + 1) S(T ):
(21)(i)

(23)

(8)

(24)

Then, let X (k) 6 S(T ) and, without loss of generality let s(k) 0. In this case, from (21) and (22) and the
left-hand side of the inequality (ii), i.e. Tdm kx(k)k + T T(s(k); X (k)), it is found that
s(k + 1)

(21)(22)(ii)

s(k) Tdm kx(k)k1 T + Tdm kx(k)k1 + T

s(k + 1) s(k) ( 1)T ( 1)Tdm kx(k)k1 6s(k) ( 1)T:

(25)

From the last relation, it may be concluded that s(k) is monotonously decreasing at least by the quantity
( 1)T . It implies that there is a number K0 such that either X (K0 ) S(T ) or s(K0 ) 0 X (K0 ) 6 S(T ).
The latter one is not possible. Indeed, from (21), (23) and the right-hand side of the inequality (ii), i.e.
T(s(K0 1); X (K0 1)) s(K0 1), it is found that
s(K0 ) s(K0 1) s(K0 1) + T dx(K0 1) + Tf(K0 1)
(21)(ii)

T 1 T kx(K0 )k1 2 T kx(K0 1)k1 :

(23)

(26)

Therefore, X (K0 ) S(T ). Since there exists K0 such that X (K0 ) S(T ), then X (K0 + 1) S(T ), and consequently X (K0 + l) S(T ); l1.
Remark 2.1. The left-hand side of inequality (ii) ensures that the trajectories of the system reach S(T ) in a
nite number of steps. The boundary of S(T ) depends on x as a consequence of the action of the disturbances
on the state vector with a delay of one sampling period.
Remark 2.2. The mapping  is continuous one in the vicinity S(T ). Hence, the control law is also a continuous function, which will result in a chattering-free system.

 Milosavljevic / Systems & Control Letters 41 (2000) 1928

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24

Remark 2.3. An example of a function (s; X ) which meets the above-mentioned conditions is


|s|
;  + q|s| + rkX k1 sgn(s); 0 6 qT 1; rdm ;  :
(s; X ) = min
T

(27)

The vicinity is dened by



1
T + rT kxk1 + rT kxk
2n
:
S(T ) = X R : s = |c (T )x|
1 qT
Remark 2.4. It is clear that when T 0; S(T ) approaches the sliding hyperplane, and reaching law (6),
(27) reduces to the reaching law for CVSCS [7]:
s =  sgn(s) qs 2rkxk1 sgn(s):

(28)

The fact that the trajectories enter the neighborhood S(T ) in nite time does not guarantee that system
(17) with control (7) is stable. The following theorem gives sucient conditions for exponential stability of
the given system, with  satisfying the conditions of Theorem 2.
Theorem 3. Suppose X (k) S(T ); let c (T ) be determined by (14)(16); and suppose that the following
conditions are met:

(29a)
(i) (1 e(d )T )(1 ed T T(T )) e2d T n 1(T )T 2 ; d 0;
(ii) 1 e2d T T(T )(eT

n 1T ):

(29b)

Then the state point x(k) of the perturbed system (17); with control (7) and where  satises the conditions
of Theorem 2; converges exponentially; with degree of stability ed T ; to the ball center at 0 and with radius;
R(T ) given by
s
2

1 eT
2
n1+
kP(T )k2 T
T

:
(29c)
R(T ) =
T
2
(1 e
)(1 T(T )) T n 1(T )
Proof. Firstly, system (7), (17) will be transformed to a more appropriate form. Dene coordinate transformation
x = P1 (T )P2 (T )P3 (T )z = P(T )z;
where


P3 (T ) =
Fc () = [1

W (T )
01(n1)



0(n1)1
1
diag(h1
1 (T ); : : : ; hn (T ));
1
n1

(30a)

hi (T ) =


dFc () 
;

d
=i (T )

(30b)

]c (T ):

Here, W (T ) stands for the Van der Monde matrix of elements 1 (T ); : : : ; n1 (T ). It is clear from (9), (30)
that P(T ) is regular matrix. By applying (30) to (17), where u is dened by (7),  satises the conditions
of Theorem 2 and X (k) S(T ), one obtains
z1 (k + 1) = diag(e1 T ; e2 T ; : : : ; en1 T )z1 (k) + T 1(n1)1 s(k);

(31a)

s(k + 1) = T dP(T )z(k) + Tf(k);

(31b)

where


z(k) =


z1 (k)
:
s(k)

(31c)

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G. Golo, C.

25

From (31a) and (31b), it is clear that

kz1 (k + 1)k2 6eT kz1 (k)k2 + T n 1|s(k)|;

(32a)

|s(k + 1)|6T(T )kz(k)k2 + T6T(T )kz1 (k)k2 + T(T )|s(k)| + T;

(32b)

(T ) = kdP(T )k2 ;
 = min(1 ; 2 ; : : : ; n1 ):

(32c)

The sequences y1 (k) and y2 (k) are dened in the following way:

  T
 



0
y1 (k)
y1 (k + 1)
e
T n1
=
+
= E(T )y(k) + F(T );
y(k + 1) =
T
y2 (k + 1)
y2 (k)
T(T )
T(T )
y1 (0) = kz1 (0)k2 ;

(33)

y2 (0) = |s(0)|:

From this, it follows (by mathematical induction) that

06kz1 (k)k2 6y1 (k);

06|s(k)|6y2 (k):

(34)
d T

,
For the sequences y1 (k) and y2 (k) to converge towards a nite value, with the degree of stability e
it is necessary and sucient that all eigenvalues of the matrix E(T ) lie inside the circle |z|6ed T , i.e.
the polynomial Fy (z) = det(zed T I2 E(T )) should have all roots inside the unit circle. By applying Jurys
criterion [4] to the polynomial Fy (z), conditions (29a) and (29b) are obtained. Since F(T ) is a constant vector
for xed T , the values towards which sequences y1 (k); p
y2 (k) converge, are p
determined as the solution to the
equation y() = E(T )y() + F(T ). Since kz(k)k2 = kz1 (k)k22 + s2 (k)6 y12 (k) + y22 (k); k N ; then by
applying (30a), one may prove that radius of the ball is given by (29c).
Now, the eect of the sampling period on the system robustness is analyzed as follows. It will be proven
that it is possible to achieve the desired dynamic and static characteristics by decreasing T .
Theorem 4. If  d 0 then for  0 there is a T0 so that T T0 R(T ) ; and the degree of
stability is ed T .
Proof. By inspection of (29a), it can be seen that, for
suciently small T , the left-hand side of (29a) behaves
asymptotically as ( d )T; and its right-hand side as n 1(T )T 2 , which means that there is a T01 so that
(29a) is always satised when T T01 . In a similar manner, by inspection of (29b), it may be concluded
that there is a T02 such that T T02 implies
that (29b) is satised. For suciently small T , the radius of the
ball, R(T ), behaves asymptotically as T n 1 + 2 kP(T )k2 =; which means that T03 may be determined
in such a way that the radius of the ball R(T ) is less than . The above observations will be true provided
that P(T ), (T ) have nite values when T 0. From (9) and (30) it may be seen that, when T 0; P(T )
converges to a nite matrix. As the terms of P(T ) are continuous functions with respect to T , also (T ) has
a nite value when T 0. Choosing T0 = min(T01 ; T02 ; T03 ), it follows that (29a) and (29b) are satised, and
R(T ) .
4. Experimental results
In order to verify the theoretically obtained results, an experiment is carried out. The control plant is a DC
motor, and its state space model is
x1 = x2 ;

x2 = 16x2 680u;

(35)

where x1 = d  ( is the angular position of the rotor shaft), x2 = ! (! is the rotor velocity), and u is
the control signal. It should be emphasized that the electric-time constant is neglected. The task is to turn the

 Milosavljevic / Systems & Control Letters 41 (2000) 1928

G. Golo, C.

26

Fig. 1. Phase portrait of nominal system.

Fig. 2. u(t) of nominal system.

rotor to a desired angle d . The position is measured by an incremental encoder which generates 4000 pulses
per revolution. The velocity is estimated from the position by using backward dierence approximation and
ltering. The discrete model of system (35) may be calculated on the basis of (3). The coecients of sliding
hyperplane are chosen in accordance with (15), (16) provided that 1 = (1 eT )=T . The parameters  and
d are 15 s1 and 100 rad, respectively.
In the rst experiment, T = 0:4 ms. The control law is chosen in accordance with (7), and  with (12)
(q = 0;  = 8). The vector c (T ) is [ 0:0220632; 0:00147088] and c (T )A (T ) = [0; 0:00146618]: The phase
portrait is presented in Fig. 1 and the signal u in Fig. 2. From Fig. 1 it can be concluded that x(k) reaches
the sliding line in nite time and from Fig. 2 that the signal u is smooth.
For the purpose of robustness testing, DC motor is loaded with a DC generator connected to a resistive load.
The complete system may be modeled by (17) where d = [0 d2 ], dm = 0:01 and  = 0:7 (the mechanical-time
constant is increased by 1.739 times). The external disturbance is due to Coulombs friction. The control law
is chosen in accordance with (7) and  with (27) and  = 8, q = 0, r = 0:011 ( = 1:1): On the basis of (29a)
and (29b), it can be guaranteed that the system is stable for T 10 ms. The in uence of the sampling period
on the robustness of the system is analyzed. Curve 1 represents (t) (Fig. 3) and s(t) (Fig. 4) of the nominal
system for T =0:4 ms, while the curves 2 4 are (t) and s(t) of the perturbed system for T {0:4; 2; 10} (ms),
respectively. The parameters are as follows:
for T = 0:4 ms :

c (T ) = [ 0:0220632; 0:00147088];

c (T )A (T ) = [0; 0:00146618];

 Milosavljevic / Systems & Control Letters 41 (2000) 1928

G. Golo, C.

27

Fig. 3. (t); curve 1 represents nominal system for T = 0:4 ms; curves 2; 3; 4 represent perturbed system for T = 0:4; 2; 10 ms, respectively.

Fig. 4. s(t), curve 1 represents nominal system for T = 0:4 ms; curves 2; 3; 4 represent perturbed system for T = 0:4; 2; 10 ms, respectively.

for T = 2 ms : c (T ) = [ 0:0220808; 0:00147204];

for T = 10 ms :

c (T ) = [ 0:0221655; 0:00147758];

c (T )A (T ) = [0; 0:00144863];

c (T )A (T ) = [0; 0:00136288]:

From Figs. 3 and 4, it can be concluded that, for T = 0:4 ms the response of the perturbed system is similar
to that of the nominal system. By increasing T , the parameter uncertainties aect dynamic characteristics of
the system (Fig. 4). The external disturbance aects the error in steady state and it is obvious that it increases
along with T (Fig. 3).
5. Conclusion
In this paper, a new control algorithm based on VSCS theory has been presented. The realization of the
proposed law requires knowledge of the state vector x. The control law has two modes. The rst, non-linear,
mode ensures the reaching of the vicinity of the sliding hyperplane, S(T ), in a nite number of steps (Theorems
1 and 2). The second, linear, mode ensures either that system reaches the sliding hyperplane in one step in
absence of external disturbances and parameter uncertainties, (Theorem 1) or that system maintains the motion
in S(T ) if disturbances exist (Theorem 2). The linear mode is obtained by the state feedback pole-placement
technique. The main feature of the proposed algorithm is robustness with respect to disturbances and parameter

28

Milosavljevic / Systems & Control Letters 41 (2000) 1928

G. Golo, C.

variations, which is achieved by nite control action. Also, since  is a continuous function in the vicinity of
S(T ) the control law is also a continuous function in it and the system will be chattering free. The robustness
has been analyzed in Section 3 and sucient conditions for exponential stability have been given (Theorem
3). The in uence of the sampling period T is discussed in Theorem 4, and it has been proven that the desired
static and dynamic characteristics can be achieved for T small enough.
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