TY - JOUR T1 - Design of Model free Terminal Sliding Mode Control for discrete time nonlinear systems TT - طراحی کنترل‌کننده مد لغزشی پایان‌دار مبتنی بر داده برای سیستم‌های غیر خطی گسسته زمان JF - joc-isice JO - joc-isice VL - 10 IS - 2 UR - http://joc.kntu.ac.ir/article-1-360-en.html Y1 - 2016 SP - 1 EP - 12 KW - Terminal Sliding Mode Control KW - Data Driven Control KW - Model Free Adaptive Control KW - Discrete time Sliding Mode Control. N2 - A model free terminal sliding mode controller has been proposed. The proposed controller is data driven i.e. based only on input and output data (thus, model free). This method employs a recursive nonlinear sliding surface. This leads to higher tracking precision and to finite time convergence of the response. The method uses “Model Free Adaptive Controller” approach, combined with “Discrete time Sliding Mode Controller” method. Boundedness of tracking error is proved analytically. Theoretical analysis also shows the superiority of the proposed method over Model Free Linear Sliding Mode Controller. Analysis results are confirmed via simulation M3 ER -