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Mathematical Problems in Engineering
Volume 2017, Article ID 3134987, 12 pages
Research Article

Enhanced Discrete-Time Sliding Mode Filter for Removing Noise

1School of Engineering, Yanbian University, Yanji 133002, China
2School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen 518055, China

Correspondence should be addressed to Xiaogang Xiong; nc.ude.zstih@gxgnoix

Received 7 October 2016; Revised 25 January 2017; Accepted 7 February 2017; Published 11 May 2017

Academic Editor: J.-C. Cortés

Copyright © 2017 Shanhai Jin et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a new discrete-time sliding mode filter for effectively removing noise in control of mechatronic systems. The presented filter is an enhanced version of a sliding mode filter by employing an adaptive gain in determining a virtual desired velocity of the output. Owing to the use of backward Euler discretization, the discrete-time implementation of the filter does not produce chattering, which has been considered as a common problem of sliding mode techniques. Besides that, the state of the filter converges to the desired state in finite time. Numerical example and experimental position control of a mechatronic system are conducted for validating the effectiveness of the filter.