Discrete-time adaptive quasi-sliding mode controllers

Abstract

In this thesis, the development of discrete-time adaptive quasi-sliding mode controllers for unknown plants represented by the state space is presented. Both single-input and a special class of multi-input plants are considered. The adaptive control is developed using the delta operator, which is an approximation of the differential operator. The delta operator form of the discrete-time model closely resembles the continuous-time model, and allows the selection of the sliding surface similar to that of the underlying continuous-time system, which would not be possible otherwise.