Adaptive sliding mode control for discrete-time systems

Research output: Contribution to conferencePaperpeer-review


In this paper, robust adaptive sliding mode tracking control for discrete-time multi-input multi-output (MIMO) systems with unknown parameters and disturbances is considered. The robust tracking controller is comprised of adaptive control and sliding mode control design. Bounded motion of the system around the sliding surface and stability of the global system in the sense that all signals remain bounded are guaranteed. The adaptive algorithms of estimating the parameters (including the parameters in the interactor matrix) are formulated even though the upper and lower bounds of the disturbances are unknown. An example and its simulation results are presented to illustrate the proposed approach.

Original languageEnglish
Number of pages6
Publication statusPublished - 2005 Dec 1
EventSICE Annual Conference 2005 - Okayama, Japan
Duration: 2005 Aug 82005 Aug 10


ConferenceSICE Annual Conference 2005


  • Adaptive algorithm with dead-zone
  • Discrete-time MIMO systems
  • Disturbance
  • Interactor matrix
  • Sliding mode control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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