A Chattering Free Discrete-Time Global Sliding Mode Controller for Optoelectronic Tracking System

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="951492.fig.004a" src="https://static.hindawi.com/articles/mpe/volume-2013/951492/figures/951492.fig.004a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>CSMC</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="951492.fig.004b" src="https://static.hindawi.com/articles/mpe/volume-2013/951492/figures/951492.fig.004b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>DGSMC</td></tr></table></td></tr></table>

<table>The curves of control inputs under two control schemes. </table>

Mathematical Problems in Engineering

fig4

Figure 4

Figure 4: A Chattering Free Discrete-Time Global Sliding Mode Controller for Optoelectronic Tracking System 