Work

Robust internal model-based control of sampled-data systems: An adaptive sliding-mode approach

Year: 2026

Type: article

Abstract: An adaptive discrete-time, internal model–based sliding mode control scheme is proposed for continuous-time linear time-invariant systems subject to disturbances assumed to be captured by an uncertain exosystem. Building upon a robust internal model-based control framework, an adaptive mechanism inspired by active disturbance rejection is introduced to estimate online the disturbance, eliminating the need for a priori knowledge of disturbance bounds. The proposed approach explicitly accounts for discretization effects inherent to digital implementations and ensures bounded tracking error under an output-feedback configuration. To this end, an observer is designed to reconstruct the required states and disturbance-related dynamics. Experimental results on a quarter-car suspension setup demonstrate improved disturbance rejection and robustness compared to internal model–based and adaptive sliding mode controllers.

Source: Control Engineering Practice

DOI: 10.1016/j.conengprac.2026.107223

Authors: Atabak Azimi, Stefan Koch, Denis Efimov, Markus Reichhartinger

Institutions: Graz University of Technology, Centre National de la Recherche Scientifique, Institut national de recherche en sciences et technologies du numérique, Université de Lille, Centre de Recherche en Informatique, Signal et Automatique de Lille

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $3,010

OpenAlex ID: W7204153487

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