On the robust stabilization of discrete-time SISO plants with saturating actuators

This paper proposes the use of a time-varying sliding surface for stabilizing linear, possibly unstable, discrete-time plants subject to saturating actuators, in the presence of bounded matched uncertainties. The present work generalizes our previous contributions in the discrete-time framework. A constructive procedure is given, and a result about semiglobal practical stabilization is given. Simulation results show both the effectiveness of the control technique and the low computational burden required.