Discrete-Time Sliding Mode Control Strategies—State of the Art

Abstract

Variable structure control systems are known to provide a high level of robustness to external disturbances and modeling uncertainties with comparably low computational complexity. Thanks to these features, they have found applications in various fields, such as power engineering, electronics, robotics, and aviation. In recent decades, the field of sliding mode control has developed significantly. Therefore, this study aims to discuss the basic concepts and design methodology of such strategies. Although in the 20th century, continuous-time sliding mode control has been the center of the control engineering society’s attention, it has certain major shortcomings. In particular, such control schemes result in undesirable high-frequency oscillations when applied digitally. Therefore, the more recent discrete-time approach to sliding mode control has gained recognition in the 21st century. Since the introduction of discrete-time sliding mode control strategies, the reaching law-based controller design method has been designed, within which two main paradigms may be named: the switching type and the nonswitching type quasi-sliding mode. This paper presents a broad review of the discrete-time sliding mode control strategies, starting from the definition of sliding mode through the controller design procedures and up to potential applications. The aim of this study is to provide an up-to-date state of the art and introduce readers to the newest trends and achievements in the field of sliding mode control.