Experimental Comparisons Between Implicit and Explicit Implementations of Discrete-Time Sliding Mode Controllers: Toward Input and Output Chattering Suppression
Résumé
This brief presents a set of experimental results concerning the sliding mode control of an electropneumatic system. Two discrete-time control strategies are considered: an explicit and an implicit (that is very easy to implement with a projection on the interval [−1, 1]) Euler discretizations. While the explicit implementation is known to generate numerical chattering , the implicit one is expected to significantly reduce chattering while keeping the accuracy. The experimental results reported in this brief remarkably confirm that the implicit discrete-time sliding mode supersedes the explicit ones, with several important features: chattering in the control input is almost eliminated (while the explicit and saturated controllers behave like high-frequency bang–bang inputs), the input magnitude depends only on the perturbation size and is independent of the controller gain and sampling time.
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