European Journal of Control 33 (2017) 52–59

Contents lists available at ScienceDirect

European Journal of Control

journal homepage: www.elsevier.com/locate/ejcon

Discrete time sliding mode control for uncertain Delta operator

systems with infrequent output measurements
P.S. Lal Priya a,n, Bijnan Bandyopadhyay b
a
College of Engineering Trivandrum, India
b
Indian Institute of Technology Bombay, India

art ic l e i nf o a b s t r a c t

Article history: A sliding mode control algorithm for discrete-time uncertain systems at higher sampling rates is pro-
Received 11 April 2016 posed in this paper. The traditional shift operator based discrete-time systems at higher sampling rates
Received in revised form fail to capture the dynamics of its continuous counter part, as the system matrix approaches to the
31 July 2016
identity matrix. To overcome this problem, the Delta operator has been used to represent the discrete
Accepted 18 August 2016
system where the discrete system dynamics converges to the continuous system at higher sampling
Recommended by X. Chen
Available online 3 September 2016 rates. Here, a periodic output feedback (POF) based sliding mode controller which makes use of infre-
quent output measurements is proposed to guarantee a stable sliding mode motion along a designed
Keywords: sliding surface for the Delta operator system. The design philosophy of this controller is to obtain the POF
Discrete-time sliding mode
gain which will bring a sliding mode for the Delta operator system. It is shown here that there exists a
Delta operator systems
POF gain for sliding mode to occur for any controllable and observable Delta operator system. Further, the
Periodic Output Feedback
sliding surface for this gain is derived. The design method is illustrated for an uncertain system with
bounded matched uncertainty.
& 2016 European Control Association. Published by Elsevier Ltd. All rights reserved.

1. Introduction
Sliding-mode control (SMC) has long been recognized as a
powerful robust control technique which has its roots in relay
control. In sliding mode technique, the state trajectories of the
system are constrained on a chosen manifold by an appropriate
control action. During sliding mode, the system dynamics is gov-
erned by the chosen manifold which results in a well-celebrated
invariant property towards certain class of disturbance and model
mismatches. The effectiveness of SMC in the linear systems
prompted its research in other types of systems such as nonlinear
systems [15], time delay systems [16] and non-minimum phase
systems [11].
The advent and use of computers and micro-controllers for the
implementation of control algorithms has motivated the research in
Discrete-time Sliding Mode (DSM) control also. In the case of DSM
design, the control input is computed only at certain sampling
instants and the control effort is held constant over the entire
sampling period. Moreover, when the SMC law is based on a
switching function, similar to its continuous-time counterpart, the
subsequent control would generally be unable to keep the states
n
Corresponding author.
E-mail addresses: lalpriyaps@gmail.com (P.S. Lal Priya),
bijnan@sc.iitb.ac.in (B. Bandyopadhyay).
confined to the sliding surface. As a result, switching based DSM can
undergo only Quasi-Sliding Mode (QSM) i.e., the system states
would approach the sliding surface but would generally be unable
to stay on it.
It has been shown in the recent past [7] that sliding mode can
be achieved in discrete-time systems without the usage of a
switching function also. This is due to the fact that discrete-time
control is inherently discontinuous in nature and thus may not
require an explicit discontinuity in the control law to bring out
SMC. Such an SMC was also proposed in [8]. The control law uses a
priori known function to lead the system states onto the sliding
surface. The DSM control using an equivalent control was pro-
posed by Utkin [23]. The control does not need the switching
function and it brings the state trajectory to the sliding surface in
one sampling time. With limited control, trajectory reaches the
sliding surface in finite sampling steps.
Most of the SMC strategies discussed above are based on state
feedback. However, it is well known that in almost all of the
physical systems, the states are seldom available. Therefore, the
state feedback based SMC cannot be directly used for imple-
mentations. In this situation, one has to resort to output feedback
control methods. Output feedback SMC is more practical than the
SMC based on state feedback.
Considerable amount of research has been done in the field of
SMC using static and dynamic output feedback [10]. It is obvious
that the dynamic controller would realize the performance of a

http://dx.doi.org/10.1016/j.ejcon.2016.08.001
0947-3580/& 2016 European Control Association. Published by Elsevier Ltd. All rights reserved.
 P.S. Lal Priya, B. Bandyopadhyay / European Journal of Control 33 (2017) 52–59 53

state feedback based controller, but will introduce additional
dynamics into the system, thus adding complexity in the closed
loop system. The static output feedback is one of the most inves-
tigated research problems. However, it has been shown in [22]
that the closed loop stability cannot be guaranteed by the use of
static output feedback and also the sliding motion is not always
guaranteed using static output feedback [10].
But the stability of the closed loop system can be guaranteed by
output feedback, if the system output and the control input are
sampled at different rates [25]. This technique is called multirate
output feedback technique. One of such methods is known as Fast
Output Sampling (FOS) where the system output is sampled faster
than the input [6]. The proposal of SMC based on FOS was first
attempted in [21]. Subsequently, a more general method on DSM
control based on FOS is presented in [2]. If the output of the sys-
tem is sampled slower than the input, the method is known as POF
technique [9,26]. Recently a DSM control algorithm using infre-
quent output observations was proposed in [3,4,17], where POF
based SMC is presented. Though these multirate output feedback
techniques guarantee closed loop stability, they will fail when the
system is sampled with high sampling rates. The system matrices
are highly ill conditioned and hence the system loses its basic
system properties when the continuous time system is discretized
with the traditional shift operator at very high sampling rates [19].
To improve the numerical ill-conditioning problems found
when using the forward shift operator, especially under the con-
ditions of fast sampling, Goodwin and Middleton [19] have
introduced the Delta operator which is a divided difference
operator to represent the dynamics of the sampled data systems.
This approach leads to a novel system calculus that allows for a
unification of continuous and discrete time formulations enabling
a smooth transition from sampled-data systems to their
continuous-time counterparts.
Delta operator uncertain systems using POF control is also
introduced in this section. The analysis of quasi-sliding mode
band with POF control is presented in Section 6. A numerical
example is presented in Section 7 to illustrate the method fol-
lowed by the concluding section.
In brief, the major contributions of this paper are
 A new methodology is proposed to obtain the periodic output
feedback control for the Delta operator systems.
 A periodic output feedback based sliding mode controller is
proposed to guarantee a stable sliding mode motion along a
sliding surface in which the eigenvalues of the reduced order
dynamics can be predesigned from the Delta operator systems.
 The quasi-sliding mode band for the Delta operator systems
with periodic output feedback control is also proposed.
2. Review of Delta operator systems
In this section, the dynamics of Delta operator systems is
reviewed [13].
Consider an nth order linear time invariant continuous time
system
_ ¼ AxðtÞ þ BuðtÞ
xðtÞ
yðtÞ ¼ CxðtÞ ð1Þ
where x A Rn is the state vector, u A Rm is the control input and
yA Rp is the output. Assuming that the system is discretized with a
sampling time interval τ, the discrete-time model of (1) in shift
form is as follows:
Z τ 
qxðkÞ ¼ eAτ xðkÞ þ eAω dωB uðkÞ
0

This advantage of the Delta operator systems has led to its ¼ Φτ xðkÞ þ Γ τ uðkÞ
research in the areas of adaptive control [12], sliding mode control
yðkÞ ¼ CxðkÞ ð2Þ
[27], H 1 control [18], design of non-linear sliding surfaces [1],
modeling of systems [24], high speed digital signal processing and where q is the forward shift operator. For simplicity, we have
control [13] and many more. Recently, in [20,14] an observer-based denoted the discrete time instants kτ by k throughout the paper.
H 1 output feedback controller is proposed for uncertain Delta
The commonly used shift operator q for discrete-time
operator systems. But these output feedback based controllers will
sequences is defined as
introduce additional dynamics into the system, thereby increases
the complexity and hence has to be replaced with multirate output qxðkÞ 9xðk þ 1Þ ð3Þ
feedback controllers. A preliminary result of POF control for Delta
operator system is given in [5]. Φτ ¼ eAτ ð4Þ
The main contribution of this paper is the design of a POF
and
control which will bring a sliding mode for the Delta operator Z τ
systems. At very high sampling rates, realizing a POF gain for a POF Γτ ¼ eAω dωB ð5Þ
based sliding mode was impossible when continuous-time sys- 0
tems were discretized using the traditional shift operator. This From (4) and (5) it is seen that as limτ-0, the following results are
difficulty has been resolved here by proposing a POF based dis- obtained irrespective of the underlying continuous time system:
crete sliding mode control for the Delta operator systems. In this
work, first the design procedure for obtaining a POF gain for Delta lim Φτ ¼ I; lim Γ τ ¼ 0 ð6Þ
τ-0 τ-0
operator systems has been presented [5]. Then, it is shown that a
POF based SMC obtained from a stable sliding surface designed for To circumvent these problems it has been shown in [19] that when
the dual Delta operator system, which when applied to the origi- the system dynamics is represented by the Delta operator, it leads
nal Delta operator system, achieves a sliding mode. The procedure to superior numerical properties than the corresponding shift
for obtaining the sliding surface with a POF based SMC is gen- operator.
eralized for an nth order single input single output (SISO) system. The discrete incremental difference operator or the Delta
A POF based SMC for an uncertain Delta operator system with operator has been defined by Goodwin and Middleton [13] as
bounded matched uncertainty is also discussed. q1
δ¼ ð7Þ
The brief outline of the paper is as follows. In Sections 2 and 3 τ
a brief review of Delta operator systems and POF for shift
where q is the forward shift operator and τ is the sampling period.
operator systems are explained respectively. In Section 4, the
Therefore,
POF control for Delta operator systems has been discussed.
Section 5 discusses the main result which is the sliding mode qxðkÞ  xðkÞ
δxðkÞ ¼ ð8Þ
control for Delta operator systems using POF control. SMC for τ
54 P.S. Lal Priya, B. Bandyopadhyay / European Journal of Control 33 (2017) 52–59

xðk þ 1Þ  xðkÞ which is the POF control. A useful condition on the control law in
δxðkÞ ¼ ð9Þ
τ (17) is given by the following lemma.
The Delta operator system corresponding to the system (1) is Lemma 1 ([26]). Assume that ðΦτ ; CÞ is observable and ðΦ; Γ Þ is
 
Φτ  I Γτ controllable with controllability index ν such that N Z ν, then it is
δxðkÞ ¼ xðkÞ þ uðkÞ
τ τ possible to choose a gain sequence Kl such that the closed loop sys-
¼ Aτ xðkÞ þ Bτ uðkÞ tem, sampled over τ, takes any desired self-conjugate set of
eigenvalues.
yðkÞ ¼ CxðkÞ ð10Þ
When the control (17) is applied to the Δ system, the closed
where loop τ system becomes,
!
Φτ  I Aτ A2 τ2 xðk þ 1Þ ¼ ðΦ þ ΓKCÞxðkÞ
N
ð18Þ
Aτ ¼ ¼ Iþ þ þ⋯ A ð11Þ
τ 2 6
where
and h i
! Γ ¼ ΦN  1 Γ ΦN  2 Γ ⋯ Γ
Γτ Aτ A2 τ2
Bτ ¼ ¼ Iþ þ þ⋯ B ð12Þ
τ 2 6 and
KT ¼ ½K 0 K 1 ⋯ K N  1 
From (11) and (12) it is clear that as limτ-0,
lim Aτ ¼ A; lim Bτ ¼ B ð13Þ Let G be the output injection gain for the τ system such that ðΦτ
τ-0 τ-0 þGCÞ is stable. The periodic output feedback gain K is obtained by
Therefore, the delta domain state-space models converge to the equating the closed loop system (18) with ðΦτ þ GCÞ as
underlying continuous-time models as the sampling rate ΓK ¼ G ð19Þ
increases.
to obtain a stabilizing controller which achieves the desired closed
loop behavior.
As τ system is controllable, the Δ system is also generically
3. Review of periodic output feedback control for shift controllable. So, the existence of K is guaranteed if number of gain
operator systems changes N Z controllability index of the system.

In this section a brief review of periodic output feedback con- Remark 1. The design of periodic output feedback controllers for
trol has been discussed for discrete-time systems represented by shift systems fails with higher sampling rates. This is due to the
the traditional shift operator. fact that the system matrix of the shift system is highly ill condi-
Consider an nth order continuous-time linear time invariant tioned with smaller sampling times and hence the shift system
single input single output (SISO) system, which is both con- loses its system properties. When the system loses its observa-
trollable and observable represented as, bility property, then one cannot design an output injection gain
such that the eigenvalues can be placed at the desired locations. In
_ ¼ AxðtÞ þ BuðtÞ
xðtÞ such a case, a periodic output feedback gain K cannot be realized
yðtÞ ¼ CxðtÞ ð14Þ and thus the control fails.
Let the system (14) be sampled at τ sec given as,
xððk þ 1ÞτÞ ¼ Φτ xðkÞ þ Γ τ uðkÞ 4. Periodic output feedback control for Delta operator systems
yðkÞ ¼ CxðkÞ ð15Þ
where x A Rn is the state vector, u A R is the control input, y A R is the Consider an nth order linear time invariant continuous time
output and Φτ , Γ τ and C are constant matrices of appropriate SISO system
dimensions. Let the system (14) be again sampled at Δ ¼ τ=N sec, _ ¼ AxðtÞ þ BuðtÞ
xðtÞ
where N is an integer greater than or equal to the controllability index yðtÞ ¼ CxðtÞ ð20Þ
of the system. Given a controllable pair ðA; BÞ A ðRnn ; Rnm Þ and
where x A R is the state vector, u A R is the control input and y A R
n
rankðBÞ ¼ m, the controllability index of the system with respect to any
is the output.
particular column bi of B is the minimum value of vi such that the
column Avi B is dependent on the columns before it in the following Assumption 1. The system (20) is completely controllable and
series: fb1 ; b2 ; ‥‥; bm ; Ab1 ; Ab2 ; ‥‥; Abm ; ‥‥; Avi b1 ; Avi b2 ; ‥‥Avi bi ; …g. observable.
The controllability index of the entire system is defined as v ¼ maxðvi Þ.
Let the Δ system be represented as, Let the τ system dynamics of the Delta operator system of (20)
be represented as
xððk þ 1ÞΔÞ ¼ ΦxðkÞ þ Γ uðkÞ
yðkÞ ¼ CxðkÞ ð16Þ
δxðkÞ ¼ Aτ xðkÞ þ Bτ uðkÞ
yðkÞ ¼ CxðkÞ ð21Þ
where Φ, Γ and C are constant matrices of appropriate dimensions
where
of the Δ system.
The output is measured at the time instants t ¼ kτ; k ¼ 0; 1… An Φτ I Γτ
Aτ ¼ ; Bτ ¼ ð22Þ
output sampling interval is divided into N subintervals and the τ τ
hold function is assumed to be constant in these subintervals. Thus and Φτ and Γ τ are constant matrices from system (15).
the control input becomes, Similarly, the Δ system of the Delta operator system of (20) is
uðtÞ ¼ K l yðkÞ; represented as,
k þ lΔ o t r k þ ðl þ 1ÞΔ; δxðkÞ ¼ AΔ xðkÞ þ BΔ uðkÞ
K l þ N ¼ K l ; l ¼ 0; 1; 2‥N  1: ð17Þ yðkÞ ¼ CxðkÞ ð23Þ
 P.S. Lal Priya, B. Bandyopadhyay / European Journal of Control 33 (2017) 52–59 55

where Δ ¼ τ=N and uðΔÞ ¼ K 1 yð0Þ ¼ K 1 Cxð0Þ

ΦI Γ uð2ΔÞ ¼ K 2 yð0Þ ¼ K 2 Cxð0Þ
AΔ ¼ ; BΔ ¼ ð24Þ
Δ Δ ⋮
Φ and Γ are constant matrices from system (16). uððN  1ÞΔÞ ¼ K N  1 yð0Þ ¼ K N  1 Cxð0Þ
The POF control input for system (23) is (17). A useful condition
on the control law in (17) is given by the following lemma which is
and on simplifying (26) using (29) and (30) we obtain
similar as proposed for shift operator system in [26].
" #
ΦN  I ΦN  1 Γ ΦN  2 Γ Γ
Lemma 2. Assume that ðAτ ; CÞ is observable and ðAΔ ; BΔ Þ is con- δxð0Þ ¼ xð0Þ þ ⋯ KCxð0Þ
trollable with controllability index ν such that N Z ν, then it is pos- NΔ NΔ NΔ NΔ
sible to choose a gain sequence Kl such that the closed loop system, ¼ ðAτ þ ΓΔ KCÞxð0Þ
sampled over τ, takes any desired eigenvalues.
In general,
Proof. The procedure for obtaining the POF gain is as follows. The
δxðkÞ ¼ ðAτ þ ΓΔ KCÞxðkÞ ð31Þ
dynamics of the Delta operator system for instants 0; Δ; 2Δ; …; ðN
 1ÞΔ can be written as, where
" #
δxð0Þ ¼ AΔ xð0Þ þBΔ uð0Þ ΦN  1 Γ ΦN  2 Γ Γ
ΓΔ ¼ ⋯
δxðΔÞ ¼ AΔ xðΔÞ þ BΔ uðΔÞ NΔ NΔ NΔ
δxð2ΔÞ ¼ AΔ xð2ΔÞ þBΔ uð2ΔÞ
and
⋮
δxððN  1ÞΔÞ ¼ AΔ xððN  1ÞΔÞ þ BΔ uððN  1ÞΔÞ ð25Þ KT ¼ ½K 0 K 1 ⋯ K N  1 

From the above equation,

The gain K can be calculated in a similar manner as in the case
xðN ΔÞ  xððN  1ÞΔÞ
δxððN  1ÞΔÞ ¼ ¼ AΔ xððN  1ÞΔÞ þ BΔ uððN 1ÞΔÞ of a shift operator system [3,4].
Δ
By the property of observability, one can always choose an
xðN ΔÞ  xððN  1ÞΔÞ output injection gain G such that ðAτ þ GCÞ is Schur stable i.e., all
¼ AΔ xððN  1ÞΔ þ BΔ uððN  1ÞΔÞ
Δ the eigenvalues of the closed loop system lie in a circle with centre
at ð  1=τ ; 0Þ and with a radius of 1/τ. Then one can always find a
xðN ΔÞ xððN  1ÞΔÞ AΔ xððN  1ÞΔÞ BΔ uððN  1ÞΔÞ POF gain K which realizes the output injection gain G by solving
¼ þ þ
NΔ NΔ N N
ΓΔ K ¼ G
xðN ΔÞÞ xð0Þ xð0Þ xððN  1ÞΔÞ AΔ xððN  1ÞΔÞ BΔ uððN  1ÞΔÞ
 ¼ þ þ þ for K. The existence of K is guaranteed for N Z controllability
NΔ NΔ NΔ NΔ N N
index of the Δ system of the shift operator system. Thus a stabi-
As N Δ ¼ τ lizing POF controller is obtained and the desired closed loop
xðτÞ  xð0Þ xð0Þ xððN  1ÞΔÞ AΔ xððN 1ÞΔÞ BΔ uððN  1ÞΔÞ behavior can be achieved. This completes the proof. □
¼ þ þ þ
τ NΔ NΔ N N
Remark 2. The periodic output feedback controllers can be
ð26Þ
designed for Delta operator systems even for very high sampling
It can be derived that, rates. This is due to the fact that the system converges to its cor-
xðΔÞ ¼ ΔAΔ xð0Þ þ ΔBΔ uð0Þ þ xð0Þ responding continuous-time counterpart as the sampling time
¼ Φxð0Þ þ Γ uð0Þ ð27Þ tends to zero and the system properties are preserved.

xð2ΔÞ ¼ ΔAΔ xðΔÞ þ ΔBΔ uðΔÞ þ xðΔÞ

5. The main result – sliding mode control for Delta operator
¼ Φ xð0Þ þ ΦΓ uð0Þ þ Γ uðΔÞ
2
ð28Þ
systems using periodic output feedback control
Similarly,
2 3 A periodic output feedback based sliding mode controller
uð0Þ
h i6
6 uðΔÞ
7
7
which makes use of infrequent output measurements is proposed
xððN  1ÞΔÞ ¼ Φ
N1
xð0Þ þ Φ
N2
Γ Φ N  3 Γ ⋯Γ 6
6
7
7
in this work which guarantees a stable sliding mode motion along
4 ⋮ 5 a designed sliding surface for the Delta operator system. The
uððN  2ÞΔÞ design philosophy of the sliding mode controller is to obtain the
ð29Þ POF gain which will bring a sliding mode for the Delta operator
system. The reaching law proposed in [7] has been used here,
Now,
which is modified in the sense of Delta operator systems. It is
N1
ðΦ  Φ
N
Þ shown here that there exists a POF gain for sliding mode to occur
AΔ xððN  1ÞΔÞ ¼ xð0Þ
" Δ # for any controllable and observable Delta operator system. Further,
N1
ðΦ Γ  ΦN  2 Γ Þ ðΦΓ  Γ Þ the sliding surface for this gain is derived.
þ ⋯⋯
Δ Δ The design steps can be summarized as follows.
2 3
uð0Þ
6 7
 Design a stable sliding surface for the dual of the τ system
4 ⋮ 5 ð30Þ dynamics of the Delta operator system.
uððN  2ÞΔÞ  The existence of the POF gain for achieving sliding mode is
proved. The POF gain is obtained which realizes the output
Now, with the control
injection gain matrix of the dual τ system dynamics of the Delta
uð0Þ ¼ K 0 yð0Þ ¼ K 0 Cxð0Þ operator system. The reaching law used here is the one
56 P.S. Lal Priya, B. Bandyopadhyay / European Journal of Control 33 (2017) 52–59

proposed in [7], but modified in the sense of Delta operator gain K is obtained by equating the closed loop system ðAτ þ ΓΔ KCÞ
systems. with ðAτ þ Gδ CÞ as
 Finally the sliding surface for the obtained POF gain is derived
ΓΔ K ¼ Gδ ð37Þ
from the closed loop τ system dynamics of the Delta operator
system. This proves the lemma □

Remark 3. The eigenvalues of (36) are stable and the eigenvalues

In the following section, the existence of the POF gain for
of (31) during sliding are the same as that of (34). Hence, the
achieving sliding mode is presented.
closed loop system (31), which is obtained under the application
Lemma 3. Let Assumption 1 hold and let N Z controllability index of of the POF control law in (23), is also stable.
the system. Then, there always exists a POF gain K for the Delta
Theorem 1. For the system (23), if the control is designed as
operator system for the sliding mode to occur.
uðkÞ ¼ K l yðkÞ; l ¼ 0; 1; 2‥N  1, i.e., uðkÞ ¼ KyðkÞ with
Proof. Consider the τ system dynamics of the Delta operator
KT ¼ ½K 0 K 1 ⋯ K N  1 
system given by (21). Let us consider the dual system of (21)
where K is obtained from (37), then a sliding mode will occur in the
δxðkÞ ¼ ATτ xðkÞ þ C T uðkÞ hyperplane SðkÞ ¼ MxðkÞ ¼ 0.
yðkÞ ¼ BTτ xðkÞ ð32Þ
Proof. Let the sliding surface be SðkÞ ¼ MxðkÞ, for the closed loop
Let the regular form of (32) be obtained by a suitable transfor- system (31) obtained when the POF control (17) is applied to (23).
mation x ¼ P b
x To obtain the sliding surface, we transform the closed loop system
δbx 1 ðkÞ ¼ Ab τ11 bx 1 ðkÞ þ Ab τ12 bx 2 ðkÞ (31) to the traditional shift system. From (7), q ¼ δτ þ 1.
Using this mapping, the system (31) is transformed to the shift
δbx 2 ðkÞ ¼ Ab τ21 bx 1 ðkÞ þ Ab τ22 bx 2 ðkÞ þ bc 2 uðkÞ ð33Þ
co-ordinate as,
i h
b b
Let M b1 M
x ðkÞ ¼ M b2 b
x ðkÞ ¼ 0 be a stable sliding surface such that, xðk þ 1Þ ¼ ½τðAτ þ ΓΔ KCÞ þ IxðkÞ ð38Þ
b  1M
δbx 1 ðkÞ ¼ ðAb τ11  Ab τ12 M b 1 Þb
x 1 ðkÞ ð34Þ As the Delta operator system has one eigenvalue at  1=τ, shift
2
operator system (38) will have one eigenvalue at zero. So the
is stable in the sense of Delta operator system. Then the sliding
system (38) can be transformed to the following form by x ¼ U x~ to:
surface for the system (32) is
~ þ 1Þ ¼ diagðλ1 ; λ2 ; …; λn  1 ; 0ÞxðkÞ
xðk ~ ð39Þ
b  1 xðkÞ ¼ MxðkÞ ¼ 0
SðkÞ ¼ MP ð35Þ
where λ1 ; λ2 ; …; λn  1 , 0 are the corresponding eigenvalues of the
Therefore,
Delta operator system in shift domain. Here it is assumed that the
Sðk þ 1Þ  SðkÞ Mxðk þ 1Þ  MxðkÞ eigenvalues are real and distinct to avoid the complexity in ana-
δSðkÞ ¼ ¼ ¼ M δxðkÞ
τ τ lysis. The following derivation is also valid for complex eigenvalue
Let the reaching law for the Delta operator system be the one case. So the method is very general. Now, (39) can be written as,
proposed in [7], which has been modified in the sense of Delta x~ 1 ðk þ 1Þ ¼ λ1 x~ 1 ðkÞ
operator systems as below, ⋮
 SðkÞ x~ n ðk þ 1Þ ¼ 0x~ n ðkÞ ð40Þ
δSðkÞ ¼
τ so,
 MxðkÞ
M δxðkÞ ¼ x~ 1 ðkÞ ¼ ðλ1 Þk x~ 1 ð0Þ
τ
   MxðkÞ ⋮
M ATτ xðkÞ þ C T uðkÞ ¼
τ x~ n ðkÞ ¼ ð0Þk x~ n ð0Þ ð41Þ
~
But xðkÞ ¼ U xðkÞ
Therefore,
! x1 ðkÞ ¼ u11 x~ 1 ðkÞ þ u12 x~ 2 ðkÞ þ ⋯ þ u1n x~ n ðkÞ
M ⋮
uðkÞ ¼  ðMC T Þ  1 T
þ MAτ xðkÞ
τ xn ðkÞ ¼ un1 x~ 1 ðkÞ þ un2 x~ 2 ðkÞ þ ⋯ þ unn x~ n ðkÞ ð42Þ
T
¼ Gδ xðkÞ A linear relation between x1 ðkÞ; x2 ðkÞ; …; xn ðkÞ is obtained as below.
Let m2 ; m3 ; …; mn be scalars such that,
 
where GTδ 9  ðMC T Þ  1 Mτ þ MATτ . m2 x2 ðkÞ þm3 x3 ðkÞ þ ⋯ þ mn xn ðkÞ
So the closed loop system of (32) becomes, ¼ ðm2 u21 þ m3 u31 þ⋯ þ mn un1 Þx~ 1 ðkÞ
  þ ðm2 u22 þ m3 u32 þ ⋯ þ mn un2 Þx~ 2 ðkÞ þ
δxðkÞ ¼ ATτ þ C T GTδ xðkÞ ð36Þ
⋮
The above closed loop system is stable as the eigenvalues are the þ ðm2 u2ðn  1Þ þ ⋯ þ mn unðn  1Þ Þx~ n  1 ðkÞ ð43Þ
disjoint sum of the desired eigenvalues of (34) and  1=τ. The
  So
stability of ATτ þ C T GTδ implies the stability of ðAτ þ Gδ CÞ.
m2 x2 ðkÞ þm3 x3 ðkÞ þ ⋯ þ mn xn ðkÞ
Now, when a POF control is applied to the Δ system of the Delta
¼ ðm2 u21 þm3 u31 þ ⋯ þmn un1 Þðλ1 Þk x~ 1 ð0Þ
operator system represented by (23), it brings a sliding mode
þ ðm2 u22 þ m3 u32 þ ⋯ þmn un2 Þðλ2 Þk x~ 2 ð0Þ þ
motion for the τ system of the Delta operator system along a
⋮
surface and the eigenvalues during sliding are the same as that of
system (34) which are stable. The closed loop τ system with the þ ðm2 u2ðn  1Þ þ m3 u3ðn  1Þ þ ⋯ þ mn unðn  1Þ Þðλn  1 Þk x~ n  1 ð0Þ
POF control is obtained as (31). So the periodic output feedback ð44Þ
 P.S. Lal Priya, B. Bandyopadhyay / European Journal of Control 33 (2017) 52–59 57

We have, Using this mapping, the system (51) is transformed to the shift
co-ordinate as,
x1 ðkÞ ¼ u11 ðλ1 Þ x 1 ð0Þ þ u12 ðλ2 Þ x 2 ð0Þ þ⋯ þ u1ðn  1Þ ðλn  1 Þ x n  1 ð0Þ
k~ k~ k~

ð45Þ xðk þ 1Þ ¼ ½τðAτ þ ΓΔ KCÞ þ IxðkÞ þ τΦ dðkÞ ð52Þ

comparing (44) and (45), The system (52) can be transformed to the following form by
x ¼ U x~ to:
ðm2 u21 þ m3 u31 þ ⋯ þmn un1 Þ ¼ u11 ;
ðm2 u22 þ m3 u32 þ ⋯ þmn un2 Þ ¼ u12 ; ~ þ 1Þ ¼ diagðλ1 ; λ2 ; …; λn  1 ; 0ÞxðkÞ
xðk ~ þ U  1 τΦ dðkÞ ð53Þ
⋮ where λ1 ; λ2 ; …; λn  1 , 0 are the corresponding eigenvalues of the
ðm2 u2ðn  1Þ þ⋯ þ mn unðn  1Þ Þ ¼ u1ðn  1Þ ð46Þ Delta operator system in shift domain. Here also it is assumed that
Thus there are ðn  1Þ linearly independent equations in ðn  1Þ the eigenvalues are real and distinct to avoid the complexity in
unknowns. Therefore, there exists a unique solution for m2 ; m3 ; …; mn . analysis. The method is general and is equally applicable with
Thus the sliding surface becomes, complex eigenvalues also.
Let
x1 ðkÞ  m2 x2 ðkÞ m3 x3 ðkÞ  ⋯  mn xn ðkÞ ¼ 0;
MxðkÞ ¼ 0: ð47Þ U  1 τΦ ¼ ½D1 D2 ⋯ Dn T ð54Þ

Thus there exists a sliding mode in the hyperplane SðkÞ ¼ MxðkÞ ¼ 0,
when a POF based sliding mode control is applied to the system (23).
Here, as the system considered was not affected by any dis-
turbance, there exists an ideal sliding mode motion for the τ
system. However, as the control is applied at every Δ instant, there
exists a quasi-sliding mode motion for the Δ system even without
uncertainty. □
5.1. Sliding mode control for delta operator uncertain systems using
POF control
Consider an nth order linear continuous time SISO uncertain
system which is both controllable and observable which is repre-
sented as
_ ¼ AxðtÞ þ BuðtÞ þ BdðtÞ
xðtÞ
yðtÞ ¼ CxðtÞ
where x A R is the state vector, u A R is the control input and y A R
n
is the output. Bd(t) accounts for the bounded matched uncertainty
whose bounds are known. Let the τ system dynamics of the Delta
operator system of (48) is represented as
δxðkÞ ¼ Aτ xðkÞ þ Bτ uðkÞ þ Bτ dðkÞ
yðkÞ ¼ CxðkÞ
where Aτ and Bτ are the same as in (22) and Φτ and Γ τ are con-
stant matrices from system (15). It is assumed that dðk o 0Þ ¼ 0 and
d(k) changes only at τ instants, hence the disturbance remains
matched even after discretization and is bounded.
Similarly, the Δ system of the Delta operator system of (48) is
represented as,
Therefore, (53) can be written as,
x~ 1 ðk þ 1Þ ¼ λ1 x~ 1 ðkÞ þ D1 dðkÞ
x~ 2 ðk þ 1Þ ¼ λ2 x~ 2 ðkÞ þ D2 dðkÞ
⋮
x~ ðn  1Þ ðk þ1Þ ¼ λðn  1Þ x~ ðn  1Þ ðkÞ þ Dn  1 dðkÞ
x~ n ðk þ 1Þ ¼ 0x~ n ðkÞ þ Dn dðkÞ ð55Þ
The solution of (55) can be obtained as,
x~ 1 ðkÞ ¼ ðλ1 Þk x~ 1 ð0Þ þ ðλ1 Þk  1 D1 dð0Þ þ ⋯ þD1 dðk  1Þ
x~ 2 ðkÞ ¼ ðλ2 Þk x~ 2 ð0Þ þ ðλ2 Þk  1 D2 dð0Þ þ ⋯ þD2 dðk  1Þ
x~ ðn  1Þ ðkÞ ¼ ðλðn  1Þ Þk x~ ðn  1Þ ð0Þ þðλðn  1Þ Þk  1 Dn  1 dð0Þ
þ ⋯ þ Dn  1 dðk  1Þ
x~ n ðkÞ ¼ ð0Þk x~ n ð0Þ þ ð0Þk  1 Dn dð0Þ þ⋯ þ Dn dðk 1Þ
ð48Þ
The higher power terms of λ can be neglected in the uncertain
terms, as all the eigenvalues are within the unit circle, as the
closed loop system dynamics is stable. Therefore, the approxi-
mated value of x~ 1 ðkÞ, x~ 2 ðkÞ…; and x~ n  1 ðkÞ can be written as
x~ 1 ðkÞ ¼ ðλ1 Þk x~ 1 ð0Þ þ λ1 D1 dðk  2Þ þ D1 dðk  1Þ
x~ 2 ðkÞ ¼ ðλ2 Þk x~ 2 ð0Þ þ λ2 D2 dðk  2Þ þ D2 dðk  1Þ
ð49Þ
x~ ðn  1Þ ðkÞ ¼ ðλðn  1Þ Þk x~ ðn  1Þ ð0Þ þ λðn  1Þ Dn  1 dðk  2Þ þ Dn  1 dðk  1Þ
x~ n ðkÞ ¼ Dn dðk  1Þ
~
Here also, xðkÞ ¼ U xðkÞ
The linear relation between x1 ðkÞ; x2 ðkÞ; …; xn ðkÞ can be obtained
as below. Let m2 ; m3 ; …; mn be scalars such that,

δxðkÞ ¼ AΔ xðkÞ þ BΔ uðkÞ þ BΔ dðkÞ m2 x2 ðkÞ þ m3 x3 ðkÞ þ⋯ þ mn xn ðkÞ ¼ x1 ðkÞ ð56Þ

yðkÞ ¼ CxðkÞ ð50Þ Thus the linear relation between x1 ðkÞ; x2 ðkÞ; …; xn ðkÞ in a similar
way as in (47) becomes,
where Δ ¼ τ=N and AΔ and BΔ are from system (24), Φ and Γ are
constant matrices from system (16). x1 ðkÞ  m2 x2 ðkÞ  ⋯  mn xn ðkÞ
Here, for designing the surface for the dual system of the ¼ ðu11 m2 u21  ⋯ mn un1 Þ½λ1 D1 dðk 2Þ þ D1 dðk  1Þ
uncertain system, we are considering the nominal system of (49) þ ðu12  m2 u22  ⋯ mn un2 Þ½λ2 D2 dðk  2Þ þ D2 dðk  1Þ
assuming that there is no disturbance. The POF based sliding mode ⋮
control is obtained using this sliding surface in a similar manner as þ ð  m2 u2n  ⋯  mn unn Þ½Dn dðk  1Þ ð57Þ
explained in Section 5 and applied to the actual uncertain system.
When the POF control is applied to (50), the closed loop τ system Therefore,
becomes, x1 ðkÞ  m2 x2 ðkÞ  ⋯  mn xn ðkÞ ¼ ð  m2 u2n  ⋯  mn unn Þ½Dn dðk  1Þ
δxðkÞ ¼ ðAτ þ ΓΔ KCÞxðkÞ þ Φ dðkÞ ð51Þ ð58Þ

where Let
!
Φ N 1
Γ Φ N 2
Γ Γ δðkÞ 9 ð  m2 u2n  ⋯  mn unn Þ½Dn dðk  1Þ ð59Þ
Φ¼ þ þ⋯þ
NΔ NΔ NΔ Therefore,

To obtain the sliding surface, we transform the closed loop system x1 ðkÞ  m2 x2 ðkÞ  ⋯  mn xn ðkÞ ¼ δðkÞ
(51) to the traditional shift system. From (7), q ¼ δτ þ 1. MxðkÞ ¼ δðkÞ
58 P.S. Lal Priya, B. Bandyopadhyay / European Journal of Control 33 (2017) 52–59

MxðkÞ  δðkÞ ¼ 0 ð60Þ In general, using (65) and (66), we can conclude that
   
Since the disturbance d(k) is bounded, δðkÞ is also bounded. Sðk þjΔÞ 4 Sðk þ ðj 1ÞΔÞ 8 j ¼ 3; …; N  1: ð67Þ
This will slide along a surface SðkÞ ¼ MxðkÞ ¼ 0 with a band δ thus So, between the time interval k and ðk þ 1Þ the deviation from the
resulting in a quasi-sliding mode. surface for the Δ instants increases and it attains a maximum value
However, as the control is applied at every Δ instant, there exists at the ðN  1ÞΔth instant as given by
a quasi-sliding mode motion for the Δ system. If the system is !
having bounded uncertainty, the maximum deviation of SðkΔÞ from X
N 3
J Sðk þðN  1ÞΔÞ J r J Φ J ρ J Φ J N  3 ρ1 þ ρ J Φ J N  3  i γi
SðkÞ ¼ 0 will be the maximum value of δðkÞ given in (59) along with i¼1
maximum deviation of SðkΔÞ obtained without uncertainty. !
þ ργ N  2  J ðΦτ þ ΓKCÞ J k J xð0Þ J : ð68Þ

6. Quasi-sliding mode band with POF control Although the deviation depends on the initial values of the states
which is not known but bounded. Thus the maximum deviation of
The POF control when applied to a Delta operator system S(k) from the surface is always bounded.
without any uncertainty will bring an ideal sliding mode motion of Since ðΦτ þ ΓKCÞ is Schur stable, the quasi-sliding mode band
the τ system in one sampling instant i.e., the control will bring the approaches zero asymptotically as k tends to infinity. Thus the
trajectory of the τ system in one sampling instant and thereafter maximum quasi-sliding mode band is given by (68) when k ¼1.
makes it slide along the surface. However, the ideal sliding mode Assume the case when J Φ J o 1. Then from (63) and (64) it is clear
cannot be guaranteed between two consecutive time intervals of that the magnitude depends on the term ργ1, which depends on
the τ system. Hence there exists a quasi-sliding mode motion for the POF gain. So, generally the deviation of S(k) from the surface
the Δ system of Delta operator system. can either increase or decrease in the time interval kτ to ðk þ1Þτ
The quasi-sliding mode band for the Δ system of a Delta operator depending on the POF gains. If the deviation of SðkΔÞ for the Δ
system without any uncertainty is obtained as shown below. instants is increasing, it attains a maximum value at the ðN  1ÞΔth
The Δ system of the Delta operator system of (48) without any instant as given by the previous case, otherwise it attains a max-
uncertainty is represented as, imum value at the very first Δth interval given by (63), when k ¼1.
δxðkÞ ¼ AΔ xðkÞ þ BΔ uðkÞ If the system is having bounded uncertainty, then the quasi-
sliding mode band will be the maximum value of δðkÞ along with
yðkÞ ¼ CxðkÞ ð61Þ
J Sðk þðN  1ÞΔÞ J when k ¼1.
To obtain the quasi-sliding mode band, we transform the above
system to the traditional shift system using the mapping
q ¼ δΔ þ 1. The Δ system dynamics of the transformed system for a 7. Numerical example and simulation results
sampling interval kτ to ðk þ 1Þτ is represented as
The proposed method is illustrated using the following system.
xðk þ ΔÞ ¼ ΦxðkÞ þ Γ K 0 yðkÞ
Let us consider a second order continuous-time system repre-
xðk þ 2ΔÞ ¼ Φ xðkÞ þ ΦΓ K 0 yðkÞ þ Γ K 1 yðkÞ
2
sented as,
⋮ _ ¼ AxðtÞ þ BuðtÞ þ BdðtÞ
xðtÞ
N1 N 2
xðk þ ðN  1ÞΔÞ ¼ Φ xðkÞ þ Φ Γ K 0 yðkÞ þ ⋯ þ Γ K N  2 yðkÞ ð62Þ y ¼ Cx ð69Þ
Therefore the surface dynamics during this interval becomes where
   
Sðk þ ΔÞ ¼ M ΦxðkÞ þM Γ K 0 yðkÞ 1:8232 1:1552  0:6091
A¼ ; B¼ ;
J Sðk þ ΔÞ J r J MðΦ þ Γ K 0 CÞ J J xðkÞ J 0  5:1083 12:7706
C ¼ ½1 0; dðtÞ ¼ sin ðtÞ
J Sðk þ ΔÞ J r ρρ1 J ðΦτ þ ΓKCÞ J k J xð0Þ J ð63Þ
The number of gain changes for the periodic output feedback is
where J M J ¼ ρ, J ðΦ þ Γ K 0 CÞ J ¼ ρ1 and J xðkÞ J ¼ J ðΦτ þ ΓKCÞk
chosen as N ¼2. Assuming a maximum frequency of 25 Hz for the
xð0Þ J
continuous case, the value of τ chosen is 0.02 s and Δ is 0.01 s. A
Similarly
stable sliding surface is designed such that the reduced order Delta
Sðk þ 2ΔÞ ¼ ðM ΦðΦ þ Γ K 0 CÞ þ M Γ K 1 CÞxðkÞ operator system of (69) has its eigenvalue at  4, which is located
J Sðk þ 2ΔÞ J rðρ J Φ J ρ1 þ ργ 1 Þ J ðΦτ þ ΓKCÞ J k J xð0Þ J ð64Þ inside the circle with centre ð 1=τ; 0Þ and radius 1=τ which is at a
stable location of the Delta operator system. A stable sliding sur-
where J Γ K 1 C J ¼ γ 1 . Now, the surface dynamics Sðk þ jΔÞ for j ¼ 3 face for the dual system is
; …; N  1 can be generalized as
! ! SðkÞ ¼ ½1:0000  0:7651xðkÞ
X
j2
J Sðk þ jΔÞ J r J Φ J ρ J Φ J j2
ρ1 þ ρJΦJ j2i
γ i þ ργ j  1 The control is obtained for the dual system as
i¼1
uðkÞ ¼ ½  51:0008 34:5418xðkÞ
J ðΦτ þ ΓKCÞ J k J xð0Þ J ð65Þ
The periodic output feedback gain K is obtained as
KT ¼ ½  946:7688 905:1684
6.1. Quasi-sliding mode band The sliding surface for the original system obtained is
SðkÞ ¼ ½1  0:0248xðkÞ:
The quasi-sliding mode band for the Δ system can be derived as
follows. Assume the case when J Φ J 4 1. It follows immediately The simulation results are explained as follows. The evolution of
from (63) and (64) that system states for the Delta operator system with the proposed
    sliding mode control is shown in Fig. 1. Fig. 2 shows the evolution
Sðk þ 2ΔÞ 4 Sðk þ ΔÞ: ð66Þ of sliding surface. The control signal for the system is shown in
 P.S. Lal Priya, B. Bandyopadhyay / European Journal of Control 33 (2017) 52–59 59

0.5
x1
8. Conclusions
x2
0.4
A POF based sliding mode controller which makes use of
0.3 infrequent output measurements has been proposed in this paper
Evolution of states

0.2 to guarantee the sliding mode motion for uncertain Delta operator
systems. The algorithm for obtaining a POF gain which brings a
0.1
sliding mode for a Delta operator system is discussed in detail. The
0 proposed algorithm is more practical since it is based on output
feedback. The proposed algorithm also works for high sampling
−0.1
rate. The design method is illustrated through a numerical system.
−0.2
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time(sec)

Fig. 1. Evolution of system states. References

[1] B. Bandyopadhyay, D. Fulwani, K. Kim, Sliding Mode Control using Novel

0.1
Sliding Surfaces, Lecture Notes in Control and Information Sciences, Springer-
Verlag, Berlin, 2009.
0.08 [2] B. Bandyopadhyay, S. Janardhanan, Discrete-Time Sliding Mode Control:
A Multirate Output Feedback Approach, Lecture Notes in Control and Infor-
0.06 mation Sciences, Springer-Verlag, Berlin, 2005.
Sliding surface

[3] B. Bandyopadhyay, P.S. Lal Priya, Discrete-time sliding mode control using
0.04 infrequent output measurements, in: Proceedings of the 2011 International
Conference on Advanced Mechatronic Systems, Zhengzhou, China, August
2011, pp. 491–496.
0.02
[4] B. Bandyopadhyay, P.S. Lal Priya, Discrete-time sliding mode control of systems
with matched uncertainty using infrequent output measurements, Int. J. Adv.
0
Mechatron. Syst. 4 (2) (2012) 120–129.
[5] B. Bandyopadhyay, P.S. Lal Priya, Periodic output feedback control for Delta
−0.02 operator systems, in: Proceedings of the 2013 International Conference on Con-
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time(sec)
trol, Communication and Computing, Kerala, India, December 2013, pp. 142–149.
[6] B. Bandyopadhyay, C.M. Saaj, Algorithm on robust sliding mode control for
Fig. 2. Evolution of sliding surface. discrete-time system using fast output sampling feedback, IEEE Proc. Control
Theory Appl. 149 (6) (2002) 497–503.
[7] G. Bartolini, A. Ferrara, V.I. Utkin, Adaptive sliding mode control in discrete-
100 time systems, Automatica 31 (5) (1995) 769–773.
[8] A. Bartoszewicz, Discrete-time quasi-sliding-mode control strategies, IEEE
Trans. Ind. Electron. 45 (1) (1998) 633–637.
50 [9] A.B. Chammas, C.T. Leondes, Pole assignment by piecewise constant periodic
output feedback, Int. J. Control 29 (1979) 31–38.
control signal

[10] C. Edwards, S. Spurgeon, Sliding Mode Control: Theory and Applications,

Taylor and Francis, CRC press, 1998.
0
[11] B. Giorgio, T. Zolezzi, The VSS approach to the model reference control of non-
minimum phase linear plants, IEEE Trans. Autom. Control 33 (9) (1988) 859–863.
[12] G.C. Goodwin, R.L. Leal, D.Q. Mayne, R.H. Middleton, Rapprochement between
−50 continuous and discrete model reference adaptive control, Automatica 22 (2)
(1986) 199–207.
[13] G.C. Goodwin, R.H. Middleton, H.V. Poor, High-speed digital signal processing
−100 and control, Proc. IEEE 80 (2) (1992) 240–259.
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 [14] X.G. Guo, G.H. Yang, Insensitive output feedback H∞ control of delta operator
Time(sec) systems with insensitivity to sampling time jitter, International Journal of
Robust and Nonlinear Control 24 (4) (2014) 725–743.
Fig. 3. Control signal.
[15] J.Y. Hung, W. Gao, J.C. Hung, Variable structure control: a survey, IEEE Trans.
Autom. Control 40 (2) (1993) 2–21.
[16] A.J. Koshkouei, S.I.Z. Alan, Sliding mode time delay systems, in: Proceeding of
the 4th IEEE Workshop on Variable Structure Control, 1996, pp. 97–101.
[17] P.S. Lal Priya, B. Bandyopadhyay, Periodic output feedback based discrete-time
sliding mode control for multivariable systems, in: Proceedings of the 2012
IEEE International Conference on Industrial Technology (ICIT), Athens, Greece,
2012, pp. 893–898.
[18] R. Lin, F. Yang, Q. Chen, Design of robust non-fragile H-infinity controller based
on Delta operator theory, J. Control Theory Appl. 5 (9) (2007) 404–408.
[19] R.H. Middleton, G.C. Goodwin, Improved finite word length characteristics in digital
control using delta operators, IEEE Trans. Autom. Control 31 (11) (1986) 1015–1021.
[20] L. Ruiquan, Y. Fuwen, P. Renchong, Observer-based H-infinity output feedback
control with feedback gain and observer gain variations for Delta operator
system, J. Control Theory Appl. 7 (2) (2009) 169–174.
[21] C.M. Saaj, B. Bandyopadhyay, H. Unbehauen, A new algorithm for discrete-
time sliding mode control using fast output sampling feedback, IEEE Trans.
Ind. Electron. 49 (3) (2002) 518–523.
[22] V.L. Syrmos, C.T. Abdallah, P. Dorato, K. Grigoriadis, Static output feedback—a
Fig. 4. Evolution of sliding surface for Δ system without any uncertainty. survey, Automatica 33 (2) (1997) 125–137.
[23] V.I. Utkin, Sliding Modes in Control and Optimisation, Springer-Verlag, Berlin, 1992.
[24] R. Vijayan, H.V. Poor, J.B. Moore, G.C. Goodwin, A Levinson-type algorithm for
Fig. 3. The deviation of SðkΔÞ for the Δ instants for the system (69) modeling fast-sampled data, IEEE Trans. Autom. Control 36 (3) (1991) 314–321.
[25] H. Werner, Multimodel robust control by fast output sampling—an LMI
without any disturbance is shown in Fig. 4. The value of τ chosen is approach, Automatica 34 (12) (1998) 1625–1630.
0.02 s and Δ is 0.01 s. It is clear that all SðkτÞ are zero but for SðkΔÞ [26] H. Werner, K. Furuta, Simultaneous stabilization based on output measure-
ment, Kybernetika 31 (4) (1995) 395–411.
there is a deviation from the surface and the maximum value of [27] Y. Xia, M. Fu, H. Yang, G. Liu, Robust sliding-mode control for uncertain time-delay
deviation is in the time interval kτ and ðk þ 1Þτ, when k ¼1. systems based on delta operator, IEEE Trans. Ind. Electron. 56 (9) (2009) 3646–3655.