TY  - JOUR
AU  - Jovanović, Radiša
AU  - Zarić, Vladimir
AU  - Bučevac, Zoran
AU  - Bugarić, Uglješa
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4524
AB  - The study proposes a novel method for synthesis of a discrete-time parallel distributed
compensation (PDC) controller for the nonlinear discrete-time Takagi–Sugeno (TS) fuzzy plant model. For each of the fuzzy plant model linear subsystems, a local linear first order proportional-sum (PS) controller is designed. The algebraic technique is used in two-dimensional parameter space, utilizing the characteristic polynomial of the row nondegenerate full transfer function matrix. Each system’s relative stability is accomplished in relation to the selected damping coefficient. The supplementary criterion is the minimal value of the performance index in the form of the sum of squared errors (SSE). However, unlike the traditional technique, output error is influenced by all simultaneous actions on the system: nonzero inputs and nonzero initial conditions. The full transfer function matrix of the system allows for the treatment of simultaneous actions of the input vector and unknown unpredictable initial conditions. In order to show the improvement caused by the application of a new optimization method that considers nonzero initial conditions, a comparison of PDC controllers designed under zero and nonzero initial conditions is given, where the system in both cases starts from the same nonzero initial conditions, which is often the case in practice. The simulation and experimental results on a DC servo motor are shown to demonstrate the suggested method efficiency.
PB  - MDPI
T2  - Applied Sciences
T1  - Discrete-time system conditional optimization based on Takagi-Sugeno fuzzy model using the full transfer function
EP  - 22
IS  - 7705
SP  - 1
VL  - 12
DO  - 10.3390/app12157705
ER  - 

@article{
author = "Jovanović, Radiša and Zarić, Vladimir and Bučevac, Zoran and Bugarić, Uglješa",
year = "2022",
abstract = "The study proposes a novel method for synthesis of a discrete-time parallel distributed
compensation (PDC) controller for the nonlinear discrete-time Takagi–Sugeno (TS) fuzzy plant model. For each of the fuzzy plant model linear subsystems, a local linear first order proportional-sum (PS) controller is designed. The algebraic technique is used in two-dimensional parameter space, utilizing the characteristic polynomial of the row nondegenerate full transfer function matrix. Each system’s relative stability is accomplished in relation to the selected damping coefficient. The supplementary criterion is the minimal value of the performance index in the form of the sum of squared errors (SSE). However, unlike the traditional technique, output error is influenced by all simultaneous actions on the system: nonzero inputs and nonzero initial conditions. The full transfer function matrix of the system allows for the treatment of simultaneous actions of the input vector and unknown unpredictable initial conditions. In order to show the improvement caused by the application of a new optimization method that considers nonzero initial conditions, a comparison of PDC controllers designed under zero and nonzero initial conditions is given, where the system in both cases starts from the same nonzero initial conditions, which is often the case in practice. The simulation and experimental results on a DC servo motor are shown to demonstrate the suggested method efficiency.",
publisher = "MDPI",
journal = "Applied Sciences",
title = "Discrete-time system conditional optimization based on Takagi-Sugeno fuzzy model using the full transfer function",
pages = "22-1",
number = "7705",
volume = "12",
doi = "10.3390/app12157705"
}

Jovanović, R., Zarić, V., Bučevac, Z.,& Bugarić, U.. (2022). Discrete-time system conditional optimization based on Takagi-Sugeno fuzzy model using the full transfer function. in Applied Sciences
MDPI., 12(7705), 1-22.
https://doi.org/10.3390/app12157705

Jovanović R, Zarić V, Bučevac Z, Bugarić U. Discrete-time system conditional optimization based on Takagi-Sugeno fuzzy model using the full transfer function. in Applied Sciences. 2022;12(7705):1-22.
doi:10.3390/app12157705 .

Jovanović, Radiša, Zarić, Vladimir, Bučevac, Zoran, Bugarić, Uglješa, "Discrete-time system conditional optimization based on Takagi-Sugeno fuzzy model using the full transfer function" in Applied Sciences, 12, no. 7705 (2022):1-22,
https://doi.org/10.3390/app12157705 . .

TY  - JOUR
AU  - Zarić, Vladimir
AU  - Bučevac, Zoran M.
AU  - Jovanović, Radiša
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3771
AB  - The paper presents a new approach to the design of the classical PD controller for the plant in the closed loop control system. Proposed controller has two unknown adjustable parameters which are designed by the algebraic method in the two dimensional parameter space, by using the newly discovered characteristic polynomial of the row nondegenerate full transfer function matrix. The system relative stability, in regard to the chosen damping coefficient is achieved. The optimality criterion is the minimal value of the performance index and sum of squared error is taken as an objective function. The output error used in the performance index is influenced by all actions on the system at the same time: by nonzero initial conditions and by nonzero inputs. In the classical approach the output error is influenced only by nonzero inputs. Experimental results confirm that by taking into account nonzero initial conditions, an optimal solution is obtained, which is not the case with the classical method where optimization is performed at zero initial conditions.
PB  - Univ Osijek, Tech Fac, Slavonski Brod
T2  - Tehnički vjesnik
T1  - Discrete-Time System Conditional Optimization in the Parameter Space with Nonzero Initial Conditions
EP  - 207
IS  - 1
SP  - 200
VL  - 29
DO  - 10.17559/TV-20191031145233
ER  - 

@article{
author = "Zarić, Vladimir and Bučevac, Zoran M. and Jovanović, Radiša",
year = "2022",
abstract = "The paper presents a new approach to the design of the classical PD controller for the plant in the closed loop control system. Proposed controller has two unknown adjustable parameters which are designed by the algebraic method in the two dimensional parameter space, by using the newly discovered characteristic polynomial of the row nondegenerate full transfer function matrix. The system relative stability, in regard to the chosen damping coefficient is achieved. The optimality criterion is the minimal value of the performance index and sum of squared error is taken as an objective function. The output error used in the performance index is influenced by all actions on the system at the same time: by nonzero initial conditions and by nonzero inputs. In the classical approach the output error is influenced only by nonzero inputs. Experimental results confirm that by taking into account nonzero initial conditions, an optimal solution is obtained, which is not the case with the classical method where optimization is performed at zero initial conditions.",
publisher = "Univ Osijek, Tech Fac, Slavonski Brod",
journal = "Tehnički vjesnik",
title = "Discrete-Time System Conditional Optimization in the Parameter Space with Nonzero Initial Conditions",
pages = "207-200",
number = "1",
volume = "29",
doi = "10.17559/TV-20191031145233"
}

Zarić, V., Bučevac, Z. M.,& Jovanović, R.. (2022). Discrete-Time System Conditional Optimization in the Parameter Space with Nonzero Initial Conditions. in Tehnički vjesnik
Univ Osijek, Tech Fac, Slavonski Brod., 29(1), 200-207.
https://doi.org/10.17559/TV-20191031145233

Zarić V, Bučevac ZM, Jovanović R. Discrete-Time System Conditional Optimization in the Parameter Space with Nonzero Initial Conditions. in Tehnički vjesnik. 2022;29(1):200-207.
doi:10.17559/TV-20191031145233 .

Zarić, Vladimir, Bučevac, Zoran M., Jovanović, Radiša, "Discrete-Time System Conditional Optimization in the Parameter Space with Nonzero Initial Conditions" in Tehnički vjesnik, 29, no. 1 (2022):200-207,
https://doi.org/10.17559/TV-20191031145233 . .

TY  - JOUR
AU  - Gruyitch, Lyubomir
AU  - Bučevac, Zoran M.
AU  - Jovanović, Radiša
AU  - Zarić, Vladimir
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3516
AB  - Dynamic systems operate under the simultaneous influence of both the initial conditions and the input vector. There is neither physical nor mathematical justification for ignoring the initial conditions, e.g., in the control optimisation. This paper gives a response to the following question: Is a set of controller parameters which is optimal for the operation of a control system under zero initial conditions also optimal for its operation under non-zero initial conditions? The paper presents a new approach to the design of a classical proportional-differencesum (PDS) controller for a plant in a closed loop control system. The system relative stability with respect to a desired damping coefficient is accomplished. The minimal value of the performance index in the form of the sum of squared errors is the optimality criterion. Unlike the classical approach, the output error used in the performance index is influenced by all actions performed on the system at the same time.
PB  - Univ Zagreb Fac Mechanical Engineering & Naval Architecture, Zagreb
T2  - Transactions of Famena
T1  - Discrete-time system conditional optimisation in the parameter space via the full transfer function matrix
EP  - 62
IS  - 3
SP  - 45
VL  - 45
DO  - 10.21278/TOF.453014220
ER  - 

@article{
author = "Gruyitch, Lyubomir and Bučevac, Zoran M. and Jovanović, Radiša and Zarić, Vladimir",
year = "2021",
abstract = "Dynamic systems operate under the simultaneous influence of both the initial conditions and the input vector. There is neither physical nor mathematical justification for ignoring the initial conditions, e.g., in the control optimisation. This paper gives a response to the following question: Is a set of controller parameters which is optimal for the operation of a control system under zero initial conditions also optimal for its operation under non-zero initial conditions? The paper presents a new approach to the design of a classical proportional-differencesum (PDS) controller for a plant in a closed loop control system. The system relative stability with respect to a desired damping coefficient is accomplished. The minimal value of the performance index in the form of the sum of squared errors is the optimality criterion. Unlike the classical approach, the output error used in the performance index is influenced by all actions performed on the system at the same time.",
publisher = "Univ Zagreb Fac Mechanical Engineering & Naval Architecture, Zagreb",
journal = "Transactions of Famena",
title = "Discrete-time system conditional optimisation in the parameter space via the full transfer function matrix",
pages = "62-45",
number = "3",
volume = "45",
doi = "10.21278/TOF.453014220"
}

Gruyitch, L., Bučevac, Z. M., Jovanović, R.,& Zarić, V.. (2021). Discrete-time system conditional optimisation in the parameter space via the full transfer function matrix. in Transactions of Famena
Univ Zagreb Fac Mechanical Engineering & Naval Architecture, Zagreb., 45(3), 45-62.
https://doi.org/10.21278/TOF.453014220

Gruyitch L, Bučevac ZM, Jovanović R, Zarić V. Discrete-time system conditional optimisation in the parameter space via the full transfer function matrix. in Transactions of Famena. 2021;45(3):45-62.
doi:10.21278/TOF.453014220 .

Gruyitch, Lyubomir, Bučevac, Zoran M., Jovanović, Radiša, Zarić, Vladimir, "Discrete-time system conditional optimisation in the parameter space via the full transfer function matrix" in Transactions of Famena, 45, no. 3 (2021):45-62,
https://doi.org/10.21278/TOF.453014220 . .

TY  - JOUR
AU  - Gruyitch, L. T.
AU  - Bučevac, Zoran M.
AU  - Jovanović, Radiša
AU  - Ribar, Zoran
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3292
AB  - A solution to the problem of structurally variable control synthesis for time-invariant Lurie systems is of both theoretical and engineering significance. A theorem on absolute stability of a set applied to Lurie systems solves the problem. The theorem is basic for proving control algorithms that ensure asymptotic stability of a sliding subspace, or its stability with finite time reachability. The selection of the sliding subspace can be such that the system nonlinearity does not influence the sliding motion. The proposed stabilising control algorithms have been tested applying them to a mathematical system and a real system, DC servo motor.
PB  - Taylor & Francis Ltd, Abingdon
T2  - International Journal of Control
T1  - Structurally variable control of Lurie systems
EP  - 2972
IS  - 12
SP  - 2960
VL  - 93
DO  - 10.1080/00207179.2019.1569764
ER  - 

@article{
author = "Gruyitch, L. T. and Bučevac, Zoran M. and Jovanović, Radiša and Ribar, Zoran",
year = "2020",
abstract = "A solution to the problem of structurally variable control synthesis for time-invariant Lurie systems is of both theoretical and engineering significance. A theorem on absolute stability of a set applied to Lurie systems solves the problem. The theorem is basic for proving control algorithms that ensure asymptotic stability of a sliding subspace, or its stability with finite time reachability. The selection of the sliding subspace can be such that the system nonlinearity does not influence the sliding motion. The proposed stabilising control algorithms have been tested applying them to a mathematical system and a real system, DC servo motor.",
publisher = "Taylor & Francis Ltd, Abingdon",
journal = "International Journal of Control",
title = "Structurally variable control of Lurie systems",
pages = "2972-2960",
number = "12",
volume = "93",
doi = "10.1080/00207179.2019.1569764"
}

Gruyitch, L. T., Bučevac, Z. M., Jovanović, R.,& Ribar, Z.. (2020). Structurally variable control of Lurie systems. in International Journal of Control
Taylor & Francis Ltd, Abingdon., 93(12), 2960-2972.
https://doi.org/10.1080/00207179.2019.1569764

Gruyitch LT, Bučevac ZM, Jovanović R, Ribar Z. Structurally variable control of Lurie systems. in International Journal of Control. 2020;93(12):2960-2972.
doi:10.1080/00207179.2019.1569764 .

Gruyitch, L. T., Bučevac, Zoran M., Jovanović, Radiša, Ribar, Zoran, "Structurally variable control of Lurie systems" in International Journal of Control, 93, no. 12 (2020):2960-2972,
https://doi.org/10.1080/00207179.2019.1569764 . .

TY  - CONF
AU  - Zarić, Vladimir
AU  - Bučevac, Zoran
AU  - Jovanović, Radiša
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4529
AB  - The aim of this paper is to present effect of initial conditions on choice of optimal parameters in computer automatic
control system of an selected actual plant. Considering is made in a parameter plane wherein the area of formerly
guaranteed relative damping coefficient of all closed-loop poles is separated. A performance index is chosen to be sum of
error squared (SSE), taking into account of arbitrary initial conditions.
Experimental results obtained on coupled-tanks plant are provided.
PB  - Kraljevo : Faculty of Mechanical and Civil Engineering
C3  - The 9th International Triennial Conference Heavy Machinery HM 2017 : Proceedings, Zlatibor  28 June – 1 July 2017
T1  - Conditional optimization of computer automatic control system of an selected plant at arbitrary initial conditions
EP  - C12
SP  - C7
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4529
ER  - 

@conference{
author = "Zarić, Vladimir and Bučevac, Zoran and Jovanović, Radiša",
year = "2017",
abstract = "The aim of this paper is to present effect of initial conditions on choice of optimal parameters in computer automatic
control system of an selected actual plant. Considering is made in a parameter plane wherein the area of formerly
guaranteed relative damping coefficient of all closed-loop poles is separated. A performance index is chosen to be sum of
error squared (SSE), taking into account of arbitrary initial conditions.
Experimental results obtained on coupled-tanks plant are provided.",
publisher = "Kraljevo : Faculty of Mechanical and Civil Engineering",
journal = "The 9th International Triennial Conference Heavy Machinery HM 2017 : Proceedings, Zlatibor  28 June – 1 July 2017",
title = "Conditional optimization of computer automatic control system of an selected plant at arbitrary initial conditions",
pages = "C12-C7",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4529"
}

Zarić, V., Bučevac, Z.,& Jovanović, R.. (2017). Conditional optimization of computer automatic control system of an selected plant at arbitrary initial conditions. in The 9th International Triennial Conference Heavy Machinery HM 2017 : Proceedings, Zlatibor  28 June – 1 July 2017
Kraljevo : Faculty of Mechanical and Civil Engineering., C7-C12.
https://hdl.handle.net/21.15107/rcub_machinery_4529

Zarić V, Bučevac Z, Jovanović R. Conditional optimization of computer automatic control system of an selected plant at arbitrary initial conditions. in The 9th International Triennial Conference Heavy Machinery HM 2017 : Proceedings, Zlatibor  28 June – 1 July 2017. 2017;:C7-C12.
https://hdl.handle.net/21.15107/rcub_machinery_4529 .

Zarić, Vladimir, Bučevac, Zoran, Jovanović, Radiša, "Conditional optimization of computer automatic control system of an selected plant at arbitrary initial conditions" in The 9th International Triennial Conference Heavy Machinery HM 2017 : Proceedings, Zlatibor  28 June – 1 July 2017 (2017):C7-C12,
https://hdl.handle.net/21.15107/rcub_machinery_4529 .

TY  - JOUR
AU  - Gruyitch, L. T.
AU  - Ribar, Zoran
AU  - Bučevac, Zoran M.
AU  - Jovanović, Radiša
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2563
AB  - This poses and solves the problem of structurally variable control synthesis for time-varying Lurie systems, which has both theoretical and engineering significance. A theorem on absolute stability of a set related to Lurie systems solves the problem. The theorem is basic for proving control algorithms that ensure absolute stability of a sliding subspace or its stability with finite reachability time. Moreover, they ensure the attraction in the whole of the zero equilibrium state of the whole control system of the plant on N(L). The selection of the sliding subspace can be such that the system nonlinearity does not influence the sliding motion.
PB  - Taylor & Francis Ltd, Abingdon
T2  - International Journal of Control
T1  - Structurally variable control of time-varying Lurie systems
EP  - 216
IS  - 2
SP  - 202
VL  - 90
DO  - 10.1080/00207179.2016.1173229
ER  - 

@article{
author = "Gruyitch, L. T. and Ribar, Zoran and Bučevac, Zoran M. and Jovanović, Radiša",
year = "2017",
abstract = "This poses and solves the problem of structurally variable control synthesis for time-varying Lurie systems, which has both theoretical and engineering significance. A theorem on absolute stability of a set related to Lurie systems solves the problem. The theorem is basic for proving control algorithms that ensure absolute stability of a sliding subspace or its stability with finite reachability time. Moreover, they ensure the attraction in the whole of the zero equilibrium state of the whole control system of the plant on N(L). The selection of the sliding subspace can be such that the system nonlinearity does not influence the sliding motion.",
publisher = "Taylor & Francis Ltd, Abingdon",
journal = "International Journal of Control",
title = "Structurally variable control of time-varying Lurie systems",
pages = "216-202",
number = "2",
volume = "90",
doi = "10.1080/00207179.2016.1173229"
}

Gruyitch, L. T., Ribar, Z., Bučevac, Z. M.,& Jovanović, R.. (2017). Structurally variable control of time-varying Lurie systems. in International Journal of Control
Taylor & Francis Ltd, Abingdon., 90(2), 202-216.
https://doi.org/10.1080/00207179.2016.1173229

Gruyitch LT, Ribar Z, Bučevac ZM, Jovanović R. Structurally variable control of time-varying Lurie systems. in International Journal of Control. 2017;90(2):202-216.
doi:10.1080/00207179.2016.1173229 .

Gruyitch, L. T., Ribar, Zoran, Bučevac, Zoran M., Jovanović, Radiša, "Structurally variable control of time-varying Lurie systems" in International Journal of Control, 90, no. 2 (2017):202-216,
https://doi.org/10.1080/00207179.2016.1173229 . .

TY  - JOUR
AU  - Bučevac, Zoran M.
AU  - Jovanović, Radiša
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2478
AB  - Linear time-invariant discrete-time plant, with no restrictions on the form of the state equation and with scalar control, is considered. The exponentially stabilizing state feedback control algorithm is developed by Lyapunov's second method leading to the variable structure system with chattering free sliding modes. Essentially, the control algorithm drives the system from an arbitrary initial state to a prescribed so-called sliding subspace S, in finite time and with prescribed velocity estimate. Inside the sliding subspace S, the system is switched to the sliding mode regime and stays in it forever. The proposed algorithm is tested on the real system in practice, direct current (DC) servo motor, and simulation and experimental results are given. Also, it is compared with another already known algorithm from literature.
PB  - Inst Control Robotics & Systems, Korean Inst Electrical Engineers, Bucheon
T2  - International Journal of Control Automation and Systems
T1  - Discrete-time Chattering Free Exponentially Stabilizing Sliding Mode Scalar Control via Lyapunov's Method
EP  - 705
IS  - 3
SP  - 698
VL  - 14
DO  - 10.1007/s12555-014-0297-8
ER  - 

@article{
author = "Bučevac, Zoran M. and Jovanović, Radiša",
year = "2016",
abstract = "Linear time-invariant discrete-time plant, with no restrictions on the form of the state equation and with scalar control, is considered. The exponentially stabilizing state feedback control algorithm is developed by Lyapunov's second method leading to the variable structure system with chattering free sliding modes. Essentially, the control algorithm drives the system from an arbitrary initial state to a prescribed so-called sliding subspace S, in finite time and with prescribed velocity estimate. Inside the sliding subspace S, the system is switched to the sliding mode regime and stays in it forever. The proposed algorithm is tested on the real system in practice, direct current (DC) servo motor, and simulation and experimental results are given. Also, it is compared with another already known algorithm from literature.",
publisher = "Inst Control Robotics & Systems, Korean Inst Electrical Engineers, Bucheon",
journal = "International Journal of Control Automation and Systems",
title = "Discrete-time Chattering Free Exponentially Stabilizing Sliding Mode Scalar Control via Lyapunov's Method",
pages = "705-698",
number = "3",
volume = "14",
doi = "10.1007/s12555-014-0297-8"
}

Bučevac, Z. M.,& Jovanović, R.. (2016). Discrete-time Chattering Free Exponentially Stabilizing Sliding Mode Scalar Control via Lyapunov's Method. in International Journal of Control Automation and Systems
Inst Control Robotics & Systems, Korean Inst Electrical Engineers, Bucheon., 14(3), 698-705.
https://doi.org/10.1007/s12555-014-0297-8

Bučevac ZM, Jovanović R. Discrete-time Chattering Free Exponentially Stabilizing Sliding Mode Scalar Control via Lyapunov's Method. in International Journal of Control Automation and Systems. 2016;14(3):698-705.
doi:10.1007/s12555-014-0297-8 .

Bučevac, Zoran M., Jovanović, Radiša, "Discrete-time Chattering Free Exponentially Stabilizing Sliding Mode Scalar Control via Lyapunov's Method" in International Journal of Control Automation and Systems, 14, no. 3 (2016):698-705,
https://doi.org/10.1007/s12555-014-0297-8 . .

TY  - JOUR
AU  - Jovanović, Radiša
AU  - Bučevac, Zoran M.
PY  - 2015
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2139
AB  - The exponentially stabilizing state feedback control algorithm is developed by Lyapunov's second method leading to the variable structure system with chattering free sliding modes. Linear time-invariant discrete-time second order plant is considered and the control law is obtained by using a simple fuzzy controller. The analytical structure of the proposed controller is derived and used to prove exponential stability of sliding subspace. Essentially, the control algorithm drives the system from an arbitrary initial state to a prescribed so-called sliding subspace S, in finite time and with prescribed velocity estimate. Inside the sliding subspace S, the system is switched to the sliding mode regime and stays in it forever. The proposed algorithm is tested on the real system in practice, DC servo motor, and simulation and experimental results are given.
PB  - Hindawi Publishing Corporation
T2  - Advances in Fuzzy Systems
T1  - Discrete-time exponentially stabilizing fuzzy sliding mode control via lyapunov's method
VL  - 2015
DO  - 10.1155/2015/496085
ER  - 

@article{
author = "Jovanović, Radiša and Bučevac, Zoran M.",
year = "2015",
abstract = "The exponentially stabilizing state feedback control algorithm is developed by Lyapunov's second method leading to the variable structure system with chattering free sliding modes. Linear time-invariant discrete-time second order plant is considered and the control law is obtained by using a simple fuzzy controller. The analytical structure of the proposed controller is derived and used to prove exponential stability of sliding subspace. Essentially, the control algorithm drives the system from an arbitrary initial state to a prescribed so-called sliding subspace S, in finite time and with prescribed velocity estimate. Inside the sliding subspace S, the system is switched to the sliding mode regime and stays in it forever. The proposed algorithm is tested on the real system in practice, DC servo motor, and simulation and experimental results are given.",
publisher = "Hindawi Publishing Corporation",
journal = "Advances in Fuzzy Systems",
title = "Discrete-time exponentially stabilizing fuzzy sliding mode control via lyapunov's method",
volume = "2015",
doi = "10.1155/2015/496085"
}

Jovanović, R.,& Bučevac, Z. M.. (2015). Discrete-time exponentially stabilizing fuzzy sliding mode control via lyapunov's method. in Advances in Fuzzy Systems
Hindawi Publishing Corporation., 2015.
https://doi.org/10.1155/2015/496085

Jovanović R, Bučevac ZM. Discrete-time exponentially stabilizing fuzzy sliding mode control via lyapunov's method. in Advances in Fuzzy Systems. 2015;2015.
doi:10.1155/2015/496085 .

Jovanović, Radiša, Bučevac, Zoran M., "Discrete-time exponentially stabilizing fuzzy sliding mode control via lyapunov's method" in Advances in Fuzzy Systems, 2015 (2015),
https://doi.org/10.1155/2015/496085 . .