ABSTRACT

This chapter focuses on the problem of designing a robust dynamic output feedback discrete-time sliding mode control (ODSMC) for uncertain systems. Sliding mode control has been designed for the cases that all the system states are available. This is not very realistic for most practical problems. The literature which has explored output feedback ODSMC includes both the dynamic and static output feedback controllers. Reference proposes an observer-based sliding mode controller for continuous-time MIMO systems. Different frameworks and discussions for the design of a static output feedback sliding mode controller are given. Moreover, in order to design direct torsion control of flexible shaft, develops an observer-based discrete-time sliding mode control (DSMC) scheme. According to the results, the use of a switching component in the control law may not necessarily improve the performance. The chapter considers a sliding surface in the state space rather than state estimate space or state estimation error space.