Discrete output feedback sliding mode based tracking control

This paper presents a novel approach to the problem of discrete time output feedback sliding mode control design. The method described applies to uncertain systems (with matched uncertainties), which are not necessarily minimum phase or relative degree one. A new sliding surface is proposed, which is associated with the equivalent control of the output feedback sliding mode controller. The practicality of the results in this paper is demonstrated through the implementation of the controller on a small dc motor test rig.