Discrete time integral sliding mode control for systems with matched and unmatched uncertainties

This study addresses an integral sliding mode control method for discrete time systems. The underlying continuous system is affected by both matched and unmatched uncertainties. The past value of the disturbance signal is taken as the estimate of its present value. The sliding mode controller is designed to ensure the existence of sliding mode in the presence of uncertainties. The proportional part is designed based on the analysis of closed-loop stability conditions. An illustrative example is given at the end to prove the efficiency of proposed methods.