title: Control of discrete time systems based on recurrent Super-Twisting-like algorithm.
abstract: Most of the research in sliding mode theory has been carried out to in continuous time to solve the estimation and control problems. However, in discrete time, the results in high order sliding modes have been less developed. In this paper, a discrete time super-twisting-like algorithm (DSTA) was proposed to solve the problems of control and state estimation. The stability proof was developed in terms of the discrete time Lyapunov approach and the linear matrix inequalities theory. The system trajectories were ultimately bounded inside a small region dependent on the sampling period. Simulation results tested the DSTA. The DSTA was applied as a controller for a Furuta pendulum and for a DC motor supplied by a DSTA signal differentiator.
authors.affiliation: Centro de Innovación y Desarrollo Tecnológico en Cómputo (CIDETEC), Instituto Politécnico Nacional, Mexico City, Mexico.
authors.forename: I
authors.initials: I
authors.lastname: Salgado
authors.affiliation: Department of Systems Innovation and Informatics, Kyushu Institute of Technology, Kitakyushu, Japan.
authors.forename: S
authors.initials: S
authors.lastname: Kamal
authors.affiliation: SYSCON, Indian Institute of Technology, Bombay, Mumbai, India.
authors.forename: B
authors.initials: B
authors.lastname: Bandyopadhyay
authors.affiliation: Departamento de Bioprocesos, Unidad Profesional Interdisciplinaria de Biotecnología (UPIBI), Instituto Politécnico Nacional, Mexico City, Mexico. Electronic address: jchairezo@ipn.mx.
authors.forename: I
authors.initials: I
authors.lastname: Chairez
authors.affiliation: Faculty of Engineering, Universidad Nacional Autónoma de México, Mexico City, Mexico.
authors.forename: L
authors.initials: L
authors.lastname: Fridman
keywords: Discrete-time super twisting algorithm; Electro-mechanical systems; Sliding mode control; Sliding mode differentiator