Adaptive sliding mode control for a class of uncertain discrete-time systems using multi-rate output measurement
This article is concerned with the design of an adaptive sliding mode control (SMC) for a class of uncertain discrete-time systems using the multi-rate output measurement. The states of the discrete-time systems are assumed to be taken in the multi-rate output measurement by the contamination with measurement noise. The uncertainties are assumed not to satisfy the matching condition, and are expressed in a parameterised form. A least squares estimator (LSE) to take the estimates for the un-measurable states and the uncertainties is designed in a batch form by using the noisy multi-rate output measurement. The proposed adaptive SMC is designed by using the sliding surface expressed as the linear state function and the estimates obtained from the LSE. It is proved that the estimation errors converge to zero as time tends to infinite, and the states of the system are bounded under the action of the proposed adaptive SMC. The effectiveness of the proposed method is indicated through the simulation experiment in a simple system.
adaptive sliding mode control discrete-time systems multi-rate output measurement least squares estimator mismatched uncertainties