Constrained Nonlinear Discrete-Time Sliding Mode Control Based on a Receding Horizon Approach

Matteo Rubagotti, Gian Paolo Incremona, Davide Martino Raimondo, Antonella Ferrara

Research output: Contribution to journalArticlepeer-review

25 Citations (Scopus)


In this paper, a discrete-time sliding mode control law is proposed for nonlinear (possibly multi-input) systems, in the presence of mixed input-state constraints and additive bounded disturbances. The control law is defined by formulating a nonlinear predictive control problem aimed at generating a control input that imitates an unconstrained discrete-time sliding mode law. In addition to satisfying input and state constraints, the resulting control law has all the properties of discrete-time sliding mode, and in particular, finite time convergence of the state onto the sliding manifold in the nominal case, or into an a-priori defined boundary layer of the sliding manifold in case bounded disturbances are present.

Original languageEnglish
Article number9199109
Pages (from-to)3802-3809
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number8
Publication statusPublished - Aug 2021


  • constrained control
  • nonlinear predictive control
  • Sliding mode control
  • uncertain systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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