  Different time-discretization methods for equivalent-control based sliding
mode control (ECB-SMC) are presented. A new discrete-time sliding mode control
scheme is proposed for linear time-invariant (LTI) systems. It is error-free in
the discretization of the equivalent part of the control input. Results from
simulations using the various discretized SMC schemes are shown, with and
without perturbations. They illustrate the different behaviours that can be
observed. Stability results for the proposed scheme are derived.
