Discrete-Time Sliding Mode Control for Networked Control System

This book presents novel algorithms for designing Discrete-Time Sliding Mode Controllers (DSMCs) for Networked Control Systems (NCSs) with both types of fractional delaysnamely deterministic delay and random delayalong with different packet loss conditions such as single packet loss and multiple packet lossthat occur within the sampling period.Firstly, the switching type and non-switching type algorithms developedfor the deterministictype fractional delay where the delay is compensated using Thiran's approximation technique.A modifieddiscrete-time sliding surface is proposed to derive the discrete-time sliding mode control algorithms. The algorithm is further extendedfor the random fractional delay with single packet loss and multiple packet loss situations. The random fractional delay is modelledusing Poisson's distribution function and packet loss is modelledby means of Bernoulli's function. The condition for closed loop stability in all above situations are derived using the Lyapunov function. Lastly, the efficacy of the proposed DSMC algorithms are demonstrated by extensive simulations and also experimentally validated on a servo system.