A New Exponentially Stable Sliding Mode Control Approach for a

Class of Uncertain Discrete Systems with Time Delay

Hejun Yao1, Fushun Yuan1, Zheng Yuan2
1. School of Mathematical and Statistics, Anyang Normal University, Anyang 455000, China
E-mail: yaohejun@126.com
2. Department of Mathematics, Zhengzhou University, Zhengzhou 450000, China
E-mail: asyhj@126.com

Abstract: The exponentially stable sliding mode control problem for a class of uncertain discrete-time systems with
delay is considered in this paper. A new sufficient condition is given to design the exponentially stable sliding mode
surface. Based on the Lyapunov theory, a design strategy is then derived for the hitting controller. And all the conditions
are expressed in terms of linear matrix inequalities. Finally, a numerical example is given to demonstrate the validity of
the results.
Key Words: Sliding mode control, Time delays, Uncertain, Discrete

1 INTRODUCTION Notations: Throughout the paper, 𝑅𝑛 denotes the 𝑛 dimen-

Time delays commonly occur in many dynamical systems
and are a source of instability and poor performances even
in a linear model. For the last decade,several works have
proposed criteria for the robust stabilization of time-delay
systems[1,2] . Recently, the problems of robust stability of
discrete time-delay systems have been studied[3] . In[4],
Kua considered the robust stability for uncertain discrete-
time systems by LMI approach.
The sliding mode control has attractive feature to keep
the systems insensitive to the uncertainties on the sliding
surface[5] . In[6],a new robust stability criterion for uncer-
tain time-delay systems is given and the sliding mode con-
trol is proved to be applicable. There,due to use of matrix
norm,the result is more or less conservative and compli-
cated which leads to inconvenience in designing the slid-
ing surface for uncertain time-delay systems. In[7],Xia
and Jia gave a delay-independent sufficient condition for
the existence of linear sliding surfaces in terms of linear
matrix inequalities.But the above results are presented for
continuous systems. On the discrete-time systems with
delay, a few papers appeared recently[8] . In[9],Chen de-
signed the sliding mode control for discrete-time multi-
input multi-out systems. Zhang gave some results about
qusi-sliding mode VSC for discrete linear constant systems
with delay[10] .
In this paper, we consider the problem of sliding mode
control for discrete time-delay systems. By using the
Lyapunov stability theorem, associated with the improved
Lyapunov-Krasovskii functional, a exponential stability
sliding mode surface is designed by a linear matrix inequal-
ity.
This work is supported by National Nature Science Foundation of
China under Grant 61073065, Nature Science Foundation of Henan
Province under Grant 092300410145.
sional Eucliden space, and 𝑏𝑙𝑜𝑐𝑘 𝑑𝑖𝑎𝑔(⋅) a block diago-
nal matrix. For symmetric matrices 𝑋 and 𝑌 , the notation
𝑋 > 𝑌 means the the matrix 𝑋 − 𝑌 is positive definite.
2 PROBLEM FORMULATION
Consider the following uncertain discrete-time system with
delay
𝑥(𝑘 + 1) =(𝐴 + Δ𝐴(𝑘))𝑥(𝑘) + (𝐴𝑑 + Δ𝐴𝑑 (𝑘))𝑥(𝑘 − ℎ)
+ 𝐵(𝑢(𝑘) + 𝑓 (𝑘)),
𝑥(𝑘) =𝜙(𝑘) − ℎ ≤ 𝑘 ≤ 0 (1)
where 𝑥(𝑘) ∈ 𝑅𝑛 is the state, 𝑢(𝑘) ∈ 𝑅𝑚 the con-
trol input, ℎ positive integer representing the delay of the
system. 𝜙(𝑘) is a real-valued initial function on [−ℎ, 0].
The space of initial functions is provided to have the uni-
form norm defined by ∥𝜙∥ℎ = max {∥𝜙(𝑘)∥}. 𝐴, 𝐴𝑑 , 𝐵
−ℎ≤𝑘≤0
are known real constant matrices with appropriate dimen-
sions, Δ𝐴(𝑘), Δ𝐴𝑑 (𝑘) unknown matrices representing
time-varying parameter uncertainties,𝑓 (𝑘) disturbance.
In this paper, the following assumptions are made for the
system (1)
Assumption 1. 𝐵 is full-rank.
Assumption 2. The matrix pair (𝐴, 𝐵) is controllable.
For the system (1), there is a nonsingular transformation
𝑇 [5] , 𝑧(𝑘) = 𝑇 𝑥(𝑘) which makes the system (1) be equiv-
alent to
[ ]
𝑧1 (𝑘 + 1)
𝑧(𝑘 + 1) =
𝑧2 (𝑘 + 1)
=𝑇 𝑥(𝑘 + 1)
=𝑇 (𝐴 + Δ𝐴(𝑘))𝑥(𝑘) + 𝑇 (𝐴𝑑
+ Δ𝐴𝑑 (𝑘))𝑥(𝑘 − ℎ) + 𝑇 𝐵(𝑢(𝑘) + 𝑓 (𝑘))
=𝑇 (𝐴 + Δ𝐴(𝑘))𝑇 −1 𝑧(𝑘) + 𝑇 (𝐴𝑑

978-1-4577-2074-1/12/$26.00 2012
c IEEE 448
 + Δ𝐴𝑑 (𝑘))𝑇 −1 𝑧(𝑘 − ℎ) + 𝑇 𝐵(𝑢(𝑘) + 𝑓 (𝑘)) 3 MAIN RESULTS
ˆ
=𝐴𝑧(𝑘) ˆ
+ Δ𝐴(𝑘)𝑧(𝑘) + 𝐴ˆ𝑑 𝑧(𝑘 − ℎ) Now we introduce one definition and two well-known lem-
ˆ
+ Δ𝐴ˆ𝑑 (𝑘)𝑧(𝑘 − ℎ) + 𝐵(𝑢(𝑘) + 𝑓 (𝑘)) (2) mas which are needed in the proof of main results in this
paper.
where Definition 1[3] .The uncertain time-delay system(1) is said
[ ] to be exponentially stable if there exist constant scalars 0 ≤
𝐴11 𝐴12
𝐴ˆ = 𝑇 𝐴𝑇 −1 = ; 𝛼 < 1 and 𝑐 ≥ 1 such that
𝐴21 𝐴22
[ ]
ˆ Δ𝐴11 (𝑘) Δ𝐴12 (𝑘) ∥𝑥(𝑘)∥ ≤ 𝑐∥𝜙∥ℎ 𝛼𝑘 𝑘≥0
Δ𝐴(𝑘) = 𝑇 Δ𝐴(𝑘)𝑇 −1 = ;
Δ𝐴21 (𝑘) Δ𝐴22 (𝑘)
for all admissible uncertainties. And the value of 𝛼 is called
[ ] the stability degree of system(1).
𝐴𝑑11 𝐴𝑑12
𝐴ˆ𝑑 = 𝑇 𝐴𝑑 𝑇 −1 = ; Lemma 1[1] . The LMI
𝐴𝑑21 𝐴𝑑22
[ ] [ ]
Δ𝐴𝑑11 (𝑘) Δ𝐴𝑑12 (𝑘) 𝑌 (𝑥) 𝑊 (𝑥)
Δ𝐴ˆ𝑑 (𝑘) = 𝑇 Δ𝐴𝑑 (𝑘)𝑇 −1 = ; >0
Δ𝐴𝑑21 (𝑘) Δ𝐴𝑑22 (𝑘) 𝑊 𝑇 (𝑥) 𝑅(𝑥)
[ ]
ˆ = 𝑇𝐵 = 0
𝐵 . is equivalent to
𝐵2
The following assumption is made for the system (2) 𝑅(𝑥) > 0, 𝑌 (𝑥) − 𝑊 (𝑥)𝑅−1 (𝑥)𝑊 𝑇 (𝑥) > 0
ˆ
Assumption 3. The uncertainties Δ𝐴(𝑘), Δ𝐴ˆ𝑑 (𝑘) satisfy-
ing where 𝑌 (𝑥) = 𝑌 𝑇 (𝑥), 𝑅(𝑥) = 𝑅𝑇 (𝑥) and 𝑊 (𝑥) depend
[ ] [ ] affinely on 𝑥.
ˆ 𝐷 0 𝐸1 𝐸2 ¯ (𝑘)𝐸; ¯ Lemma 2[4] . For given scalar 𝜖 > 0 and matrices 𝐷, 𝐸, 𝐹
Δ𝐴(𝑘) = 𝐹 (𝑘) = 𝐷𝐹
0 𝐷 𝐸3 𝐸4 with 𝐹 𝑇 𝐹 ≤ 𝐼, the inequality
[ ] [ ]
𝐺 0 𝐻 1 𝐻2
Δ𝐴ˆ𝑑 (𝑘) = 𝐹 (𝑘) = 𝐺𝐹¯ (𝑘)𝐻. ¯ 𝐷𝐹 𝐸 + 𝐸 𝑇 𝐹 𝑇 𝐷𝑇 ≤ 𝜖𝐷𝐷𝑇 + 𝜖−1 𝐸 𝑇 𝐸
0 𝐺 𝐻 3 𝐻4
is always satisfied.
From the equation 𝑠(𝑘) = 0, we can obtain
According to the above assumptions, we obtain
𝑧1 (𝑘 + 1) =𝐴11 𝑧1 (𝑘) + 𝐴12 𝑧2 (𝑘) + 𝐴𝑑11 𝑧1 (𝑘 − ℎ) 𝑧2 (𝑘) = −𝑐𝑧1 (𝑘). (6)
+ 𝐴𝑑12 𝑧2 (𝑘 − ℎ) + Δ𝐴11 (𝑘)𝑧1 (𝑘) Substituting (6) into (3), we have
+ Δ𝐴12 (𝑘)𝑧2 (𝑘) + Δ𝐴𝑑11 (𝑘)𝑧1 (𝑘 − ℎ)
+ Δ𝐴𝑑12 (𝑘)𝑧2 (𝑘 − ℎ) 𝑧1 (𝑘 + 1) =(𝐴11 + Δ𝐴11 (𝑘))𝑧1 (𝑘) − (𝐴12 𝑐
=(𝐴11 + Δ𝐴11 (𝑘))𝑧1 (𝑘) + (𝐴12 + Δ𝐴12 (𝑘)𝑐)𝑧1 (𝑘) + (𝐴𝑑11
+ Δ𝐴12 (𝑘))𝑧2 (𝑘) + (𝐴𝑑11 + Δ𝐴𝑑11 (𝑘))𝑧1 (𝑘 − ℎ) − (𝐴𝑑12 𝑐
+ Δ𝐴𝑑11 (𝑘))𝑧1 (𝑘 − ℎ) + (𝐴𝑑12 + Δ𝐴𝑑12 (𝑘)𝑐)𝑧1 (𝑘 − ℎ)
+ Δ𝐴𝑑12 (𝑘))𝑧2 (𝑘 − ℎ), (3) =(𝐴11 − 𝐴12 𝑐 + Δ𝐴11 (𝑘) − Δ𝐴12 (𝑘)𝑐)𝑧1 (𝑘)
+ (𝐴𝑑11 − 𝐴𝑑12 𝑐 + Δ𝐴𝑑11 (𝑘)
𝑧2 (𝑘 + 1) =𝐴21 𝑧1 (𝑘) + 𝐴22 𝑧2 (𝑘) + 𝐴𝑑21 𝑧1 (𝑘 − ℎ) − Δ𝐴𝑑12 (𝑘)𝑐)𝑧1 (𝑘 − ℎ)
+ 𝐴𝑑22 𝑧2 (𝑘 − ℎ) + Δ𝐴21 (𝑘)𝑧1 (𝑘) ¯ 1 (𝑘) + 𝐴¯𝑑 𝑧1 (𝑘 − ℎ)
=𝐴𝑧 (7)
+ Δ𝐴22 (𝑘)𝑧2 (𝑘) + Δ𝐴𝑑21 (𝑘)𝑧1 (𝑘 − ℎ)
where
+ Δ𝐴𝑑22 (𝑘)𝑧2 (𝑘 − ℎ)
=(𝐴21 + Δ𝐴21 )(𝑘)𝑧1 (𝑘) 𝐴¯ =𝐴11 − 𝐴12 𝑐 + Δ𝐴11 (𝑘) − Δ𝐴12 (𝑘)𝑐
+ (𝐴22 + Δ𝐴22 (𝑘))𝑧2 (𝑘) =(𝐴11 − 𝐴12 𝑐) + 𝐷𝐹 (𝑘)𝐸1 − 𝐷𝐹 (𝑘)𝐸2 𝑐
+ (𝐴𝑑21 + Δ𝐴𝑑21 (𝑘))𝑧1 (𝑘 − ℎ) =(𝐴11 − 𝐴12 𝑐) + 𝐷𝐹 (𝑘)(𝐸1 − 𝐸2 𝑐)
+ (𝐴𝑑22 + Δ𝐴𝑑22 (𝑘))𝑧2 (𝑘 − ℎ) ¯
𝐴𝑑 =𝐴𝑑11 − 𝐴𝑑12 𝑐 + Δ𝐴𝑑11 (𝑘) − Δ𝐴𝑑12 (𝑘)𝑐
+ 𝐵2 (𝑢(𝑘) + 𝑓 (𝑘)). (4) =(𝐴𝑑11 − 𝐴𝑑12 𝑐) + 𝐺𝐹 (𝑘)𝐻1 − 𝐺𝐹 (𝑘)𝐻2 𝑐
=(𝐴𝑑11 − 𝐴𝑑12 𝑐) + 𝐺𝐹 (𝑘)(𝐻1 − 𝐻2 𝑐).
For the uncertain discrete time-delay system(2), we choose
the following sliding mode surface Theorem 1. For any given scalar 𝛼(0 ≤ 𝛼 < 1), the un-
𝑠(𝑘) = 𝐶𝑧(𝑘) = [𝑐 𝐼]𝑧(𝑘) = 𝑐𝑧1 (𝑘) + 𝑧2 (𝑘) (5) certain discrete time-delay system(7) is exponentially sta-
ble if there exist a scalar 𝜖 > 0, matrices 𝑊, 𝑀 , positive-
where 𝐶 is of appropriate dimensions. Here we can choose definite matrices 𝑋, 𝑁 with appropriate dismensions such
the 𝐶 such that the 𝑠(𝑘) is exponentially stable. that the following matrix inequality holds

2012 24th Chinese Control and Decision Conference (CCDC) 449

 ⎡
−𝑋 + 𝜖𝐷𝐷𝑇 𝐴11 𝑋 − 𝐴12 𝑊 − 𝑧1𝑇 (𝑘 − ℎ)𝑄𝛼2(ℎ−1) 𝑧1 (𝑘 − ℎ).
⎢ ∗ −𝛼2 𝑋
⎢
⎢ ∗ ∗ From the equation
⎢
⎣ ∗ ∗ ℎ−1
∑
∗ ∗
⎤ 𝑧1𝑇 (𝑘 − 𝑖)𝑄𝛼2𝑖 𝑧1 (𝑘 − 𝑖)
𝐴𝑑11 𝑁 − 𝐴𝑑12 𝑀 0 0 𝑖=1
0 (𝐸1 𝑋 − 𝐸2 𝑊 )𝑇 𝑋 ⎥
⎥ ℎ
∑
−𝛼2ℎ 𝑁 (𝐻1 𝑄 − 𝐻2 𝑀 )𝑇 0 ⎥ < 0. (8)
⎥ = 𝑧1𝑇 (𝑘 + 1 − 𝑖)𝑄𝛼2(𝑖−1) 𝑧1 (𝑘 + 1 − 𝑖)
∗ −𝜖𝐼 0 ⎦
𝑖=2
∗ ∗ 𝑁
we have
Proof. Choose a Lyapunov functional candidate for the
system(7) as follows Δ𝑉 (𝑘) =𝑧1𝑇 (𝑘 + 1)𝑃 𝑧1𝑇 (𝑘 + 1) − 𝑧1𝑇 (𝑘)𝑃 𝑧1 (𝑘)
ℎ
∑ + 𝑧1𝑇 (𝑘)𝑄𝑧1 (𝑘)
𝑉 (𝑘) := 𝑧1𝑇 (𝑘)𝑃 𝑧1 (𝑘) + 𝑧1𝑇 (𝑘 − 𝑖)𝑄𝛼2(𝑖−1) 𝑧1 (𝑘 − 𝑖) ℎ
𝑖=1
∑
(9) + (1 − 𝛼−2 ) 𝑧1𝑇 (𝑘 + 1 − 𝑖)𝑄
𝑖=1
where 𝛼(0 ≤ 𝛼 < 1) is a scalar, 𝑃, 𝑄 positive-definite
matrices with appropriate dimensions. × 𝛼2(𝑖−1) 𝑧1 (𝑘 + 1 − 𝑖)
The forward difference of 𝑉 (𝑘) along the solution of sys- − (1 − 𝛼−2 )𝑧1𝑇 (𝑘)𝑄𝑧1 (𝑘)
tem(7) is given by
− 𝑧1𝑇 (𝑘 − ℎ)𝑄𝛼2(ℎ−1) 𝑧1 (𝑘 − ℎ)
Δ𝑉 (𝑘) =𝑉 (𝑘 + 1) − 𝑉 (𝑘)
+ (1 − 𝛼−2 )𝑧1𝑇 (𝑘 + 1)𝑃 𝑧1 (𝑘 + 1)
=𝑧1𝑇 (𝑘 + 1)𝑃 𝑧1 (𝑘 + 1) − 𝑧1𝑇 (𝑘)𝑃 𝑧1 (𝑘)
− (1 − 𝛼−2 )𝑧1𝑇 (𝑘 + 1)𝑃 𝑧1 (𝑘 + 1)
ℎ
∑
+ 𝑧1𝑇 (𝑘 + 1 − 𝑖)𝑄𝛼2(𝑖−1) 𝑧1 (𝑘 + 1 − 𝑖) =(1 − 𝛼−2 )𝑉 (𝑘 + 1)
𝑖=1 + [𝛼−2 𝑧1𝑇 (𝑘 + 1)𝑃 𝑧1 (𝑘 + 1)
ℎ
∑ − 𝑧1𝑇 (𝑘)𝑃 𝑧1 (𝑘) + 𝛼−2 𝑧1𝑇 (𝑘)𝑄𝑧1 (𝑘)
− 𝑧1𝑇 (𝑘 − 𝑖)𝑄𝛼2(𝑖−1) 𝑧1 (𝑘 − 𝑖)
𝑖=1 − 𝑧1𝑇 (𝑘 − ℎ)𝑄𝛼2(ℎ−1) 𝑧1 (𝑘 − ℎ)]
=𝑧1𝑇 (𝑘 + 1)𝑃 𝑧1 (𝑘 + 1) − 𝑧1𝑇 (𝑘)𝑃 𝑧1 (𝑘) =(1 − 𝛼−2 )𝑉 (𝑘 + 1) + 𝛼−2 Π (10)
ℎ−1
∑
+ 𝑧1𝑇 (𝑘 − 𝑖)𝑄𝛼2𝑖 𝑧1 (𝑘 − 𝑖) where
𝑖=0
Π =𝑧1𝑇 (𝑘 + 1)𝑃 𝑧1 (𝑘 + 1) − 𝑧1𝑇 (𝑘)𝛼2 𝑃 𝑧1 (𝑘)
ℎ
∑
− 𝑧1𝑇 (𝑘 − 𝑖)𝑄𝛼2(𝑖−1) 𝑧1 (𝑘 − 𝑖) + 𝑧1𝑇 (𝑘)𝑄𝑧1 (𝑘) − 𝑧1𝑇 (𝑘 − ℎ)𝑄𝛼2ℎ 𝑧1 (𝑘 − ℎ)]
𝑖=1 ¯ 1 (𝑘) + 𝐴¯𝑑 𝑧1 (𝑘 − ℎ))𝑇 𝑃 (𝐴𝑧
=(𝐴𝑧 ¯ 1 (𝑘)
=𝑧1𝑇 (𝑘 + 1)𝑃 𝑧1𝑇 (𝑘 + 1) − 𝑧1𝑇 (𝑘)𝑃 𝑧1 (𝑘)
+ 𝐴¯𝑑 𝑧1 (𝑘 − ℎ)) − 𝑧1𝑇 (𝑘)𝛼2 𝑃 𝑧1 (𝑘)
+ 𝑧1𝑇 (𝑘)𝑄𝑧1 (𝑘)
+ 𝑧1𝑇 (𝑘)𝑄𝑧1 (𝑘) − 𝑧1𝑇 (𝑘 − ℎ)𝑄𝛼2ℎ 𝑧1 (𝑘 − ℎ)
ℎ−1
∑
+ 𝑧1𝑇 (𝑘 − 𝑖)𝑄𝛼2𝑖 𝑧1 (𝑘 − 𝑖) =𝑧1𝑇 (𝑘)𝐴¯𝑇 𝑃 𝐴𝑧
¯ 1 (𝑘) + 𝑧1𝑇 (𝑘)𝐴¯𝑇 𝑃 𝐴¯𝑑 𝑧1 (𝑘 − ℎ)
𝑇
𝑖=1 + 𝑧1𝑇 (𝑘 − ℎ)𝐴¯𝑑 𝑃 𝐴𝑧
¯ 1 (𝑘)
ℎ−1
∑ 𝑇
− 𝑧1𝑇 (𝑘 − 𝑖)𝑄𝛼2(𝑖−1) 𝑧1 (𝑘 − 𝑖) + 𝑧1𝑇 (𝑘 − ℎ)𝐴¯𝑑 𝑃 𝐴¯𝑑 𝑧1 (𝑘 − ℎ)
𝑖=1 − 𝑧1𝑇 (𝑘)𝑃 𝛼2 𝑧1 (𝑘) + 𝑧1𝑇 (𝑘)𝑄𝑧1 (𝑘)
− 𝑧1𝑇 (𝑘 − ℎ)𝑄𝛼 2(ℎ−1)
𝑧1 (𝑘 − ℎ) − 𝑧1𝑇 (𝑘 − ℎ)𝑄𝛼2ℎ 𝑧1 (𝑘 − ℎ)
=𝑧1𝑇 (𝑘 + 1)𝑃 𝑧1𝑇 (𝑘 + 1) − 𝑧1𝑇 (𝑘)𝑃 𝑧1 (𝑘) [ ]𝑇 [ 𝑇
𝑧1 (𝑘) 𝐴¯ 𝑃 𝐴¯ − 𝛼2 𝑃 + 𝑄
+ 𝑧1𝑇 (𝑘)𝑄𝑧1 (𝑘) =
𝑧1 (𝑘 − ℎ) ∗
ℎ−1 ¯ ¯ ][ ]
∑ 𝑇
𝐴 𝑃 𝐴𝑑 𝑧1 (𝑘)
+ 𝑧1𝑇 (𝑘 − 𝑖)𝑄(𝛼2𝑖 − 𝛼2(𝑖−1) )𝑧1 (𝑘 − 𝑖) 𝑇 . (11)
𝐴¯𝑑 𝑃 𝐴¯𝑑 − 𝛼2ℎ 𝑄 𝑧1 (𝑘 − ℎ)
𝑖=1

− 𝑧1𝑇 (𝑘 − ℎ)𝑄𝛼2(ℎ−1) 𝑧1 (𝑘 − ℎ) Inserting (11) into (10), we have

=𝑧1𝑇 (𝑘 + 1)𝑃 𝑧1𝑇 (𝑘 + 1) − 𝑧1𝑇 (𝑘)𝑃 𝑧1 (𝑘)
Δ𝑉 (𝑘) =(1 − 𝛼−2 )𝑉 (𝑘 + 1) + 𝛼−2 Π
+ 𝑧1𝑇 (𝑘)𝑄𝑧1 (𝑘) =(1 − 𝛼−2 )𝑉 (𝑘 + 1)
ℎ−1
∑ [ ]𝑇 [ ]
+ (1 − 𝛼−2 ) 𝑧1𝑇 (𝑘 − 𝑖)𝑄𝛼2𝑖 𝑧1 (𝑘 − 𝑖) −2 𝑧1 (𝑘) 𝑧1 (𝑘)
+𝛼 Θ
𝑖=1 𝑧1 (𝑘 − ℎ) 𝑧1 (𝑘 − ℎ)

450 2012 24th Chinese Control and Decision Conference (CCDC)

 ⎤
where 𝐴𝑑11 𝑁 − 𝐴𝑑12 𝑀 0
0 (𝐸1 𝑋 − 𝐸2 𝑊 )𝑇 ⎥ ⎥ < 0. (15)
[ ¯𝑇 ¯ ] −𝛼 𝑁2ℎ
(𝐻1 𝑄 − 𝐻2 𝑀 )𝑇 ⎦
𝐴 𝑃 𝐴 − 𝛼2 𝑃 + 𝑄 𝐴¯𝑇 𝑃 𝐴¯𝑑
Θ= 𝑇 ∗ −𝜖𝐼
∗ 𝐴¯𝑑 𝑃 𝐴¯𝑑 − 𝛼2ℎ 𝑄 By Lemma 1, the inequality (15) is equivalent to LMI(8),
[ ]
−𝛼2 𝑃 + 𝑄 0 so we know the the inequality (12) is equivalent to (8).
=
∗ −𝛼2ℎ 𝑄 From (8), for all admissible uncertainties, we have
[ ¯𝑇 ]
𝐴 [ ] Δ𝑉 (𝑘) < (1 − 𝛼−2 )𝑉 (𝑘 + 1),
+ ¯ 𝑇 𝑃 𝐴¯ 𝐴¯𝑑 .
𝐴𝑑
i.e.,
Now we proof that the inequality 𝑉 (𝑘 + 1) < 𝛼2 𝑉 (𝑘),
Θ<0 (12) then
𝑉 (𝑘) < 𝛼2 𝑉 (𝑘 − 1) < 𝛼4 𝑉 (𝑘 − 2) < ⋅ ⋅ ⋅ < 𝛼2𝑘 𝑉 (0)(16)
is equivalent to the inequality (8).
where
With the lemma1,we have
⎡ ⎤ 𝑉 (0) ≤ [𝜆𝑚𝑎𝑥 (𝑃 ) + ℎ𝜆𝑚𝑎𝑥 (𝑄)]∥𝜙∥2ℎ . (17)
−𝑃 −1 𝐴¯ 𝐴¯𝑑 From(9), we obtain
⎣ ∗ −𝛼2 𝑃 + 𝑄 0 ⎦ < 0,
∗ ∗ 2ℎ
−𝛼 𝑄 𝑉 (𝑘) ≥ 𝜆𝑚𝑖𝑛 (𝑃 )∥𝑧1 (𝑘)∥2 . (18)

i.e. According to Eqs.(16),(17)and(18), we get

⎡ ⎤
−𝑃 −1 𝐴11 − 𝐴12 𝑐 𝐴𝑑11 − 𝐴𝑑12 𝑐 √
⎣ ∗ 2
−𝛼 𝑃 + 𝑄 0 ⎦ 𝜆𝑚𝑎𝑥 (𝑃 ) + ℎ𝜆𝑚𝑎𝑥 (𝑄)
∥𝑧1 (𝑘)∥ < ∥𝜙∥ℎ 𝛼𝑘 . (19)
∗ ∗ −𝛼2ℎ 𝑄 𝜆𝑚𝑖𝑛 (𝑃 )
⎡ ⎤
𝐷 [ ] Therefore, by Definition 1 and from(19) it is easy to see
+ ⎣ 0 ⎦ 𝐹 (𝑘) 0 𝐸1 − 𝐸2 𝑐 𝐻1 − 𝐻2 𝑐 that the uncertain discrete time-delay system(7) is expo-
0 nentially stable for all admissible uncertainties. The proof
⎡ ⎤𝑇
[ ]𝑇 𝑇 𝐷 is completed.
+ 0 𝐸1 − 𝐸2 𝑐 𝐻1 − 𝐻2 𝑐 𝐹 (𝑘) ⎣ 0 ⎦ < 0.
0 In [9], we know that the hitting condition is given by
With the lemma2,we obtain 𝑠𝑇 (𝑘)Δ𝑠(𝑘) < 0, 𝑠(𝑘) ∕= 0. (20)
⎡ ⎤ Now we design a sliding mode controller such that the state
−𝑃 −1 𝐴11 − 𝐴12 𝑐 𝐴𝑑11 − 𝐴𝑑12 𝑐
⎣ ∗ −𝛼2 𝑃 + 𝑄 0 ⎦+ will hit the sliding surface (5) in limited time.
2ℎ
∗ ∗ −𝛼 𝑄 Theorem 2. When the linear matrix inequality (8) has the
⎡ ⎤ solution 𝜖 > 0, matrices 𝑊, 𝑀 , positive-definite matrices
0 [ ]
1 ⎣ 𝑋 > 0, 𝑁 > 0, the trajectory of the system(2) can be
𝜖
(𝐸1 − 𝐸2 𝑐)𝑇 ⎦ 0 (𝐸1 − 𝐸2 𝑐) (𝐻1 − 𝐻2 𝑐)
driven onto the sliding surface (5) in limited time with the
(𝐻1 − 𝐻2 𝑐)𝑇
⎡ ⎤ controller
𝐷 [ ˆ
] 𝑢(𝑘) = − 𝐵2−1 [𝐶 𝐴𝑧(𝑘) + 𝐶 𝐴ˆ𝑑 𝑧(𝑘 − ℎ) − 𝐶𝑧(𝑘)
+𝜖 ⎣ 0 ⎦ 𝐷𝑇 0 0 < 0. (13)
0 1 ¯ ¯𝑇 𝑇 1 ¯ ¯𝑇 𝑇
+ 𝐶𝐷 𝐷 𝐶 𝑠(𝑘) + 𝐶 𝐺 𝐺 𝐶 𝑠(𝑘)
2 2
Again with the lemma1,the equation (13) is equivalent to 1 𝑠(𝑘)
⎡ + (𝑧 𝑇 (𝑘)𝐸¯ 𝑇 𝐸𝑧(𝑘)
¯
−𝑃 −1 + 𝜖𝐷𝐷𝑇 𝐴11 − 𝐴12 𝑐 2 ∥𝑠(𝑘)∥2
⎢ ∗ −𝛼2 𝑃 + 𝑄 ¯ 𝑇 𝐻𝑧(𝑘
¯
⎢ + 𝑧 𝑇 (𝑘 − ℎ)𝐻 − ℎ))
⎣ ∗ ∗
∗ ∗ 𝑠(𝑘)
⎤ + ∥𝐵2 ∥𝐹 (𝑧(𝑘))
𝐴𝑑11 − 𝐴𝑑12 𝑐 0 ∥𝑠(𝑘)∥
0 (𝐸1 − 𝐸2 𝑐)𝑇 ⎥⎥ < 0. + (𝐾1 𝑠𝑔𝑛(𝑠(𝑘)) + 𝐾2 𝑠(𝑘))] (21)
(14)
2ℎ
−𝛼 𝑄 (𝐻1 − 𝐻2 𝑐)𝑇 ⎦
where ⎡ ⎤ ⎡ ⎤
∗ −𝜖𝐼 𝑘11 𝑘21
Pre- and Post-multiplying the inequality(14) by ⎢ .. ⎥ ⎢ .. ⎥
𝐾1 = ⎣ ⎦ ; 𝐾2 = ⎣ ⎦;
𝑑𝑖𝑎𝑔{𝐼, 𝑃 −1 , 𝑄−1 , 𝐼}, with some changes of vari- . .
ables 𝑋 = 𝑃 −1 , 𝑊 = 𝑐𝑃 −1 , 𝑀 = 𝑐𝑄−1 , 𝑁 = 𝑄−1 , we 𝑘1𝑛 𝑘2𝑛
have ⎡ ⎤ ⎡ ⎤
⎡ 𝑠1 (𝑘) 𝑠𝑔𝑛(𝑠1 (𝑘))
−𝑋 + 𝜖𝐷𝐷𝑇 𝐴11 𝑋 − 𝐴12 𝑊 ⎢ 𝑠2 (𝑘) ⎥ ⎢ 𝑠𝑔𝑛(𝑠2 (𝑘)) ⎥
⎢ ∗ −𝛼2 𝑋 + 𝑋𝑁 −1 𝑋 ⎢ ⎥ ⎢ ⎥
⎢ 𝑠(𝑘) = ⎢ .. ⎥ ; 𝑠𝑔𝑛(𝑠(𝑘)) = ⎢ .. ⎥.
⎣ ∗ ∗ ⎣ . ⎦ ⎣ . ⎦
∗ ∗ 𝑠𝑛 (𝑘) 𝑠𝑔𝑛(𝑠𝑛 (𝑘))

2012 24th Chinese Control and Decision Conference (CCDC) 451

 Proof. The forward difference of 𝑠(𝑘) along the solution 1
System State x1

of system(2) is given by 0.8

0.6
Δ𝑠(𝑘) =𝑠(𝑘 + 1) − 𝑠(𝑘) 0.4

=𝐶𝑧(𝑘 + 1) − 𝐶𝑧(𝑘) 0.2

ˆ
=𝐶[𝐴𝑧(𝑘) ˆ
+ Δ𝐴(𝑘)𝑧(𝑘) + 𝐴ˆ𝑑 𝑧(𝑘 − ℎ) − 𝐶𝑧(𝑘)

x1
0

−0.2
ˆ
+ Δ𝐴ˆ𝑑 (𝑘)𝑧(𝑘 − ℎ) + 𝐵(𝑢(𝑘) + 𝑓 (𝑘))] −0.4

ˆ
=𝐶 𝐴𝑧(𝑘) + 𝐶 𝐴ˆ𝑑 𝑧(𝑘 − ℎ) − 𝐶𝑧(𝑘) −0.6

−0.8
ˆ
+ 𝐶Δ𝐴(𝑘)𝑧(𝑘) + 𝐶Δ𝐴ˆ𝑑 (𝑘)𝑧(𝑘 − ℎ) −1
0 1 2 3 4 5
+ 𝐵2 (𝑢(𝑘) + 𝑓 (𝑘)). t

Fig.1 State responses 1 of system

Then, we have
System State x2
ˆ
𝑠(𝑘)𝑇 Δ𝑠(𝑘) =𝑠𝑇 (𝑘)𝐶 𝐴𝑧(𝑘) + 𝑠𝑇 (𝑘)𝐶 𝐴ˆ𝑑 𝑧(𝑘 − ℎ) 1

0.8

− 𝑠𝑇 (𝑘)𝐶𝑧(𝑘) + 𝑠𝑇 (𝑘)𝐶 𝐷𝐹¯ (𝑘)𝐸𝑧(𝑘)

¯ 0.6

¯ (𝑘)𝐻𝑧(𝑘
+ 𝑠𝑇 (𝑘)𝐶 𝐺𝐹 ¯ − ℎ) 0.4

𝑇 0.2
+ 𝑠 (𝑘)𝐵2 (𝑢(𝑘) + 𝑓 (𝑘))

x2
0

ˆ
≤𝑠𝑇 (𝑘)𝐶 𝐴𝑧(𝑘) + 𝑠𝑇 (𝑘)𝐶 𝐴ˆ𝑑 𝑧(𝑘 − ℎ) −0.2

1 ¯𝐷¯ 𝑇 𝐶 𝑇 𝑠(𝑘)
−0.4

− 𝑠𝑇 (𝑘)𝐶𝑧(𝑘) + 𝑠𝑇 (𝑘)𝐶 𝐷
2
−0.6

1 ¯𝐺¯ 𝑇 𝐶 𝑇 𝑠(𝑘)
−0.8

+ 𝑠𝑇 (𝑘)𝐶 𝐺 −1
2 0 1 2
t
3 4 5

1 ¯ 𝑇 𝐸𝑧(𝑘)
¯
+ 𝑧 𝑇 (𝑘)𝐸 Fig.2 State responses 2 of system
2
1 ¯ 𝑇 𝐻𝑧(𝑘
¯
+ 𝑧 𝑇 (𝑘 − ℎ)𝐻 − ℎ) In the above figures, it can be seen that the system is well
2 stabilized, and our control scheme achieves satisfactory
+ 𝑠𝑇 (𝑘)𝐵2 𝑢(𝑘) + ∥𝑠(𝑘)∥∥𝐵2 ∥𝐹 (𝑧(𝑘)). performances.
(22)
5 CONCLUSION
With the controller (21), the (22) is equivalent to In this paper, we studied the sliding mode control problem
𝑠𝑇𝑖 (𝑘)Δ𝑠𝑖 (𝑘) ≤ −𝑘1𝑖 𝑠𝑖 (𝑘) − 𝑘2𝑖 𝑠2𝑖 (𝑘) < 0, 𝑠𝑖 (𝑘) ∕= 0. for a class of uncertain discrete-time systems with delay.
Based on the Lyapunov stability theory, a new design strat-
Then,the hitting condition (20) is satisfied. This completes egy was given for the design of the sliding mode surface,
the proof. and the condition expressed in terms of linear matrix in-
equalities would be very efficiently solved by using power-
4 SIMULATION EXAMPLE ful LMI toolbox in MATLAB.
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