Discrete-Time Reduced Order Sliding Mode Tracking Control for Non-minimum Phase Systems

In this chapter, the design of a reduced-order switching function for a discrete-time uncertain non-minimum phase system in a special coordinate basis form is discussed. The sliding mode control utilizing this approach ensures the asymptotic stability of all system states in the presence of matched disturbance. This approach is further extended to address the tracking problem of discrete-time uncertain non-minimum phase systems. The results of the simulation of the reduced-order sliding mode design are compared with that of the full-order sliding surface. Finally, the limitation of this approach in discrete-time domain is discussed.