A Discrete‐Time Integral Sliding Mode Predictive Control for Electronic Throttle With Experiments and Comparison

This article introduces a novel discrete‐time integral sliding mode predictive controller (DISMPC) for high‐precision and reliable tracking control of electronic throttle (ET) systems. In this control framework, a discrete‐time error dynamics model of the ET system is first established using the Euler discretization method while accounting for parameter uncertainties and external disturbances. Subsequently, a novel composite control strategy is developed by integrating discrete‐time higher‐order sliding mode theory with receding horizon optimization, thereby alleviating chattering and handling input constraints. Specifically, the incorporation of predictive control enables the actual sliding mode variable to track the reference trajectory, thereby addressing the challenge of obtaining the equivalent control term in sliding mode control. Moreover, the adoption of the adaptive reaching law and exponential reaching law significantly improves the dynamic response characteristics and steady‐state performance of the system. Rigorous theoretical analysis demonstrates that both the width of the real sliding mode band and the tracking error are effectively reduced. Simulation and experimental results further verify that the proposed control approach significantly reduces system output deviation while enhancing the robustness of the ET system.