On Output Tracking Using Dynamic Output Feedback Discrete-Time Sliding Mode Controllers

An output feedback based discrete time sliding mode control scheme is proposed. It incorporates a tracking requirement and is dynamic in nature. Previous work has shown that, with an appropriate choice of sliding surface, discrete time sliding mode control can be applied to non-minimum phase systems. The original scheme employed static output feedback and this imposed restrictions on the class of systems to which it was applicable. The scheme proposed in this paper includes a compensator and so some of the restrictions relating to stabilizability by outputs alone can be removed.