Decoupled Disturbance Compensator Based Discrete-time Stochastic Sliding Mode Control with Experimental Results

This paper investigates the problem of a decoupled disturbance compensator (DDC) based stochastic sliding mode control (SMC) design for discrete linear time-invariant systems. In the developed method, the actual disturbance is estimated using the DDC method to design the control input and stabilize the system. The proposed method allows the disturbance compensation to be modified separately from the control input, since the two inputs of system are completely decoupled. To demonstrate the effectiveness of the DDC based discrete-time stochastic SMC, its performance is compared with that of the existing methods using the simulation results. Finally, experimental results are presented to demonstrate the effectiveness of the proposed method.