Novel sliding mode control for multi-input-multi-output discrete-time system with disturbance: Novel sliding mode control for multi-input-multi-output discrete-time system with disturbance

This paper investigates sliding mode control for multi-input-multi-output discrete-time system with disturbances. First of all, a novel nonlinear sliding surface, named as hyperbolic hybrid switching sliding surface, is proposed. Two different types of hyperbolic functions are introduced into the proposed sliding surface. Due to the changing of values of the hyperbolic functions, sliding surface switching occurs during the control process, which ensures that both settling time and overshoot can be decreased. The sliding mode controller is obtained based on a novel nonlinear reaching law. The nonlinear reaching law contains several parameters, and by properly designing these parameters, we can decrease the bounds of the sliding variables to small values. The stability analysis of the sliding motion is carried out from singular system viewpoint. Finally, simulation examples and comparison examples are presented to illustrate that the system performance is improved obviously by proposed novel sliding mode control, and the system is robust to the disturbances.