Adaptive switching gain for a discrete-time sliding mode controller

Sliding Mode Control is a well-known technique capable of making the closed loop system robust with respect to certain kinds of parameter variations and unmodeled dynamics. The sliding mode control law consists of the linear control part which is based on the model knowledge and the discontinuous control part which is based on the model uncertainty. This paper describes two known adaption laws for the switching gain for continuous-time sliding mode controllers. Because these adaption laws have some fundamental problems in discrete-time, we introduce a new adaption law specifically designed for discrete-time sliding mode controllers.