Sliding-mode control of discrete-time linear plants with input saturation: application to a twin-rotor system

摘要

This paper investigates the stabilisation problem for discrete-time linear controllable systems subject to actuator saturation. In the case of completely known plants, a control design technique based on a time-varying sliding surface is proposed ensuring stabilisation under the assumption of availability of all state measurements. Further, in the presence of matched disturbances with a known constant bound, a discrete-time sliding-mode controller is proposed ensuring plant practical stabilisation, and a conservative estimate of the attraction domain is given. Theoretical results have been validated by experimental data using a twin-rotor system.