A non-switching attracting law based discrete-time control method is proposed, where the disturbance difference compensation term is embedded in order to construct the ideal error dynamics. Based on the ideal error dynamics, a discrete-time controller can be derived, by which the chattering phenomenon can be avoided. Expressions of four performance indexes, including the steady-state error band, the absolute attracting layer, the monotonically decreasing region, and the maximum number of steps of that the tracking error converges into the steady-state error band for the first time, are derived to characterize both the transient and steady-state performance of the tracking error. Numerical simulation and experiment results verify the effectiveness of the proposed control scheme.