Discrete-Time Implementation of an Adaptive Gain First-Order Sliding Mode Control Law

Lars Watermann, Lukas Eisenzopf, Stefan Koch, Markus Reichhartinger, Martin Horn, Johann Reger

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review


A discrete-time implementation of a continuous-time adaptive gain sliding mode control law for a system with matched disturbance is presented. The discrete-time control algorithm is derived from the solution of the nominal continuous-time closed-loop dynamics. This approach ensures elimination of discretization chattering as well as proper disturbance rejection. Slight modifications of the resulting discrete-time control law are proposed to guarantee ultimate boundedness of the sliding variable and the adaptive gain which is formally proven by means of Lyapunov arguments. Prevention of discretization chattering and disturbance attenuation properties are validated in a simulation and compared to other approaches.
Original languageEnglish
Title of host publication2021 60th IEEE Conference on Decision and Control, CDC 2021
Publication statusPublished - 2021
Event60th IEEE Conference on Decision and Control: CDC 2021 - Virtuell, United States
Duration: 13 Dec 202115 Dec 2021


Conference60th IEEE Conference on Decision and Control
Abbreviated titleCDC 2021
Country/TerritoryUnited States


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