
doi: 10.1007/bfb0110235
Stability of a discretized continuous sliding-mode based state feedback control is proved using an L 2-gain analysis result for linear continuous-time systems with sampled-data output. It has been shown before that a strictly proper linear continuous-time system with sampled-data output has finite L 2-gain. This gain converges to the L 2-gain associated with the continuous-time output when the sampling period approaches +0. This result is incorporated in the analysis of the discretized sliding-mode based control applying techniques from non-linear L 2-gain theory. The result is then compared to a Lyapunov function analysis based approach. In contrast to the Lyapunov function technique, the sampling-time constraint vanishes for a stable plant if no control is used. Numerical results are demonstrated for a particular example, the control of the non-linear inverted pendulum.
Discrete Control System, Punov Function, 621, Slide Mode Control Approach, Inverted Pendulum, Lyapunov Function
Discrete Control System, Punov Function, 621, Slide Mode Control Approach, Inverted Pendulum, Lyapunov Function
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