Discrete adaptive sliding-mode tracking controller

@article{Chan1997DiscreteAS,
  title={Discrete adaptive sliding-mode tracking controller},
  author={C. Y. Chan},
  journal={Automatica},
  year={1997},
  volume={33},
  pages={999-1002}
}
This paper presents the discrete adaptive sliding-mode control of a minimum-phase plant with a bounded disturbance. The control law is based on an input-output model and is of the non-switching type. The system behaviour in the vicinity of the sliding surface is examined. It is shown that the adaptive controller is robust with respect to the bounded disturbance. Simulation results are presented to illustrate the features of the proposed scheme. 
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