Semi-Implicit Euler Discretization for Homogeneous Observer-based Control: one dimensional case
Résumé
It is well known that the implicit Euler strategy is a chattering-free implementation of sliding mode algorithms. In this paper, we propose to mix explicit and implicit discretizations in order to deal with homogeneous sliding mode control. More precisely, a semi-implicit discretization for homogeneous observer-based sliding mode control is proposed in one dimensional case with a theoretical stability proof. The effectiveness of the proposed solution is illustrated in simulation by a comparison with explicit Euler discretization.
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