Discrete-time Sliding Mode Tracking Control for NMP Systems using Reduced Order Switching Function

Abstract In this paper design of reduced order switching function for a discrete-time uncertain nonminimum phase system in special coordinate basis form is proposed. The sliding mode control with this method guarantees the asymptotic stability of all states of system in presence matched disturbance. This problem is further extended to the tracking problem of discrete time uncertain nonminimum phase systems. The results obtained with reduced order sliding surface design are compared with the results of full order sliding surface.