On Monotonic Convergence of Relative Degree Two Discrete Time Switching Reaching Law

In this paper, a study on the monotonic convergence of sliding variable is presented for relative degree two switching reaching law in discrete time sliding mode control systems. It is well known from the literature that such convergence cannot be guaranteed in general for the relative degree two reaching laws. The presented work in this paper studies the conditions on the switching reaching law parameter that sufficiently guarantee such monotonic convergence, and these are generalized and presented in the form of a theorem. The theoretical analysis is verified using simulation results.