Design of Integral Sliding Mode Control Using Decoupled Disturbance Compensator with Mismatched Disturbances

This paper deals the problem of integral sliding mode control using decoupled disturbance compensator for discrete-time systems with mismatched disturbances. The proposed method allows the disturbance compensation to be modified separately from the control input, since the two inputs of system are completely decoupled. In the developed method, the actual disturbance is estimated by the decoupled disturbance compensator (DDC) method to design the control input and stabilize the system. Integral sliding mode control with DDC scheme minimizes the control effort and improves the system performance. Main advantage of this method is to eliminate the reaching phase and reduce the control effort, simultaneously. Finally, simulation results are shown to demonstrate the usefulness of the presented methodology.