Output tracking with discrete-time integral sliding mode control

Abstract

Sliding mode control is a very popular robust control method owing to its ease of design and robustness to "matched" disturbances. However, full state information is required in the controller design which is a drawback since in most practical applications only the output measurement is available. To solve this problem, focus was placed on output feedback based sliding mode control [1]- [6]. Two approaches arose: a design based on observers to construct the missing states, [3],[4], the other design focused on using only the output measurement, [1],[2]. Both approaches present certain strengths and limitations. © 2008 Springer-Verlag Berlin Heidelberg.