Discrete-time Sliding Mode Control for Plants with Stable Finite Zero

Original scientific paper A method for practical implementation of discrete-time sliding mode control technique for control of plants with stable finite zero is proposed in this paper. The method is based on a combination of different conventional and sliding mode control approaches. The control system contains a sliding mode controller, an observer, based on nominal plant model without finite zero, and two additional control channels for the plant and for the plant model. The main attention in the paper is directed to the stability of the proposed system structure with respect to exogenous disturbances. The effectiveness of the proposed control strategy is demonstrated by simulation on an example.