Implicit Implementation of Nonsmooth Controllers to Nonsmooth Actuators

This article presents an approach to implement a sliding-mode position controller plant equipped with nonsmooth actuator. The actuator is modeled as set-valued function from the control input and velocity force, which motivated by quasi-static characteristics of hydraulic actuators shown in previous study. implementation performed implicit discretization nominal model controller, copes difficulties caused set-valuedness, such numerical chattering. Stability analyses both continuous-time discrete-time domains are presented. Simulation results illustrate theoretical findings.