Disturbance estimator-based switching function for discrete-time sliding mode control systems with control saturation

Haifeng Ma, Zhenhua Xiong, Yangmin Li, Zhanqiang Liu

Research output: Journal article publicationJournal articleAcademic researchpeer-review


In this paper, a new disturbance estimator-based switching function (SF) is presented dedicated to discrete-time sliding mode control (DSMC) systems with disturbances and control saturation (CS). This SF is featured by an (n+1)th-order disturbance estimator, which utilizes n+1 past disturbance terms to attain accurate disturbance rejection. Moreover, an auxiliary state is integrated into the SF to address the CS problem. One uniqueness of the developed method is that it is capable of achieving the ideal quasi-sliding mode and produces a zero-convergence error of the SF under the influence of disturbances and CS, which is rarely realized in DSMC methods. In addition, system states dynamics is rigorously analysed adopting the Lyapunov technique. The feasibility and virtue of the designed results are verified by a numerical example.

Original languageEnglish
Pages (from-to)2715-2723
Number of pages9
JournalTransactions of the Institute of Measurement and Control
Issue number12
Publication statusPublished - Aug 2021


  • control saturation
  • Discrete-time sliding mode control
  • switching function

ASJC Scopus subject areas

  • Instrumentation

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