S. Sarpturk, Y. Istefanopulos, and O. Kaynak, On the stability of discrete-time sliding mode control systems Automatic Control, IEEE Transactions on, vol.32, issue.10, pp.930-932, 1987.

S. Drakunov and V. Utkin, ON DISCRETE-TIME SLIDING MODES, Proc. of IFAC Nonlinear Control System Design Conf, pp.273-278, 1989.
DOI : 10.1016/B978-0-08-037022-4.50053-3

K. Furuta, Sliding mode control of a discrete system, Systems & Control Letters, vol.14, issue.2, pp.145-152, 1990.
DOI : 10.1016/0167-6911(90)90030-X

V. Utkin, Sliding mode control in discrete-time and difference systems, Variable Structure and Lyapunov Control, ser. Lecture Notes in Control and Information Sciences, pp.87-107, 1994.
DOI : 10.1007/BFb0033680

W. Gao, Y. Wang, and A. Homaifa, Discrete-time variable structure control systems, Industrial Electronics IEEE Transactions on, vol.42, issue.2, pp.117-122, 1995.

G. Golo, ?. C. Milosavljevi´cmilosavljevi´c, and ?. C. Milosavljevi´cmilosavljevi´c, Robust discrete-time chattering free sliding mode control General conditions for the existence of a quasisliding mode on the switching hyperplane in discrete variable structure systems, Systems & Control Letters Automation and Remote Control, vol.41, issue.46 3, pp.19-28, 1985.

V. Acary and B. Brogliato, Implicit Euler numerical scheme and chattering-free implementation of sliding mode systems, Systems & Control Letters, vol.59, issue.5, pp.284-293, 2010.
DOI : 10.1016/j.sysconle.2010.03.002
URL : https://hal.archives-ouvertes.fr/inria-00423576

V. Acary, B. Brogliato, and Y. Orlov, Chattering-Free Digital Sliding-Mode Control With State Observer and Disturbance Rejection, IEEE Transactions on Automatic Control, vol.57, issue.5, pp.1087-1101, 2012.
DOI : 10.1109/TAC.2011.2174676
URL : https://hal.archives-ouvertes.fr/inria-00580713

O. Huber, V. Acary, and B. Brogliato, Analysis of explicit and implicit discrete-time equivalent-control based sliding mode controllers, INRIA, Rapport de Recherche RR-8383, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00875209

B. Drazenovic and ?. C. Milosavljevi´cmilosavljevi´c, The invariance conditions in variable structure systems, Automatica, vol.5, issue.3, pp.287-295, 1969.
DOI : 10.1016/0005-1098(69)90071-5

W. Su, S. Drakunov, and Ü. Özgüner, An O(T 2 ) boundary layer in sliding mode for sampled-data systems, Automatic Control IEEE Transactions on, vol.45, issue.3, pp.482-485, 2000.

M. Ljesnjanin, B. Drazenovic, ?. C. Milosavljevi´cmilosavljevi´c, and B. Veselic, Disturbance compensation in digital sliding mode, 2011 IEEE EUROCON, International Conference on Computer as a Tool, pp.1-4, 2011.
DOI : 10.1109/EUROCON.2011.5929182

B. Fornberg, Generation of finite difference formulas on arbitrarily spaced grids, Mathematics of Computation, vol.51, issue.184, pp.699-706, 1988.
DOI : 10.1090/S0025-5718-1988-0935077-0

V. Acary and F. Pérignon, An introduction to SICONOS INRIA, Rapport Technique RT-0340, 2007.

J. D. Hunter, Matplotlib: A 2D Graphics Environment, Computing in Science & Engineering, vol.9, issue.3, pp.90-95, 2007.
DOI : 10.1109/MCSE.2007.55