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Article Dans Une Revue International Journal of Robust and Nonlinear Control Année : 2021

Digital implementation of sliding-mode control via the implicit method: A tutorial

Résumé

The objective of this article, is to provide a clear presentation of the discretization of continuous-time sliding-mode controllers, also known in the Automatic Control literature as the emulation method, when the implicit (backward) Euler scheme is used. First-order, second-order and homogeneous controllers are considered. The main theoretical results are recalled in each case, and the focus is put on the discrete-time implementation structure and on the algorithms which allow the designer to solve, at each time-step, the one-step generalized equations which are needed to compute the controllers. The article ends with some open issues.
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Dates et versions

hal-02523011 , version 1 (28-03-2020)
hal-02523011 , version 2 (11-08-2020)

Identifiants

Citer

Bernard Brogliato, Andrey Polyakov. Digital implementation of sliding-mode control via the implicit method: A tutorial. International Journal of Robust and Nonlinear Control, 2021, Special Issue: Homogeneous Sliding‐Mode Control and Observation, 31 (9), pp.3528-3586. ⟨10.1002/rnc.5121⟩. ⟨hal-02523011v2⟩
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