Discrete predictive sliding-mode control with extended-state observation for an electronic throttle actuator: Suppression of high-frequency oscillations and experimental validation

Electronic throttle actuators operate under strong nonlinearities, parametric uncertainties, and time-varying disturbances, where discontinuous control actions may introduce chattering and undesired high-frequency oscillations that degrade tracking accuracy and aggravate mechanical excitation. This paper proposes an extended-state-observer-based discrete predictive sliding-mode control strategy (ESO-DPSMC) for sampled-data electronic throttle systems. A discrete-time tracking-error model is established via Euler discretization to support controller synthesis directly in the discrete domain. A discrete-time extended state observer is developed to reconstruct the lumped disturbance online, and boundedness of the observation error is analytically guaranteed. On this basis, an adaptive implicit discrete reaching law with a predictive term is designed to enhance robustness while attenuating chattering-related high-frequency components in the control action. Closed-loop analysis establishes stability and bounded tracking performance in the presence of uncertainties and external disturbances. Comparative experiments on an electronic throttle platform demonstrate improved tracking and disturbance rejection with smoother control action than conventional sliding-mode control, indicating effective suppression of high-frequency oscillations under complex operating conditions.