Discrete Time Adaptive Controller Based on Estimated Pseudopartial Derivative and Reaching Sliding Condition

Abstract

An adaptive controller based on sliding mode condition is developed with estimated pseudopartial derivative (PPD) of datadriven scheme. The controlled plant is considered as a class of unknown discretetime systems with only output feedback, which allows the proposed controller to be applicable for practical plants operated by computerization systems. The convergence of estimated PPD is analyzed by Lyapunov direct method under reasonable assumptions. The control law is derived by the estimated PPD and reaching condition of sliding surface as a modelfree of controlled plant. The performance of the proposed control scheme is validated by theoretical analysis and experimental system with direct current (DC) motor current control.