Multiple step ahead prediction based high order discrete-time sliding mode control design with actuator and communication delays.

Sliding mode control (SMC) is a well-known nonlinear control strategy which is robust against the model uncertainty; however it can produce control signals with high frequency response (chattering phenomena). To deal with chattering effect, high order SMC has been proposed in the literature, but it has weakness in dealing with measurement noise, and actuator and communication delays. This paper presents a predictive-based discrete higher order SMC design method for multi-input-multi-output linear systems in noisy environment with measurement and actuator delay. The proposed method utilizes distributed multiple step ahead prediction method which is optimal in terms of prediction error variance. The stability of the proposed controller in the sense of mean and mean square is proved. Besides, the lower and upper bound for the reaching time to the sliding surface of the proposed controller is analytically determined. The resulting technique is verified through simulation and experimental test performed on a four-tank process. [ABSTRACT FROM AUTHOR]