Conclusions

MIMO discrete-time nonlinear uncertain systems are proposed, as follows: The first

control scheme is developed using a recurrent highorder neural networkwhich enables

identification of the plant model. A strategy to avoid specific adaptive weights zero-

crossing and conserve the identifier controllability property is proposed.Based on this

neural identifier and applying the discrete-time block control approach, a nonlinear

sliding manifold with a desired asymptotically stable motion is formulated. Using

a Lyapunov functions approach, a discrete-time sliding mode control which ensures

that the sliding manifolds are attractive, is introduced.