ABSTRACT
The sliding mode concept can be used for designing an observer by replacing L(y −Cxˆ) in Equation 50.32 with a discontinuous function Ed(y, xˆ) of and xˆ yielding
˙ˆx = Axˆ +Bu+Ed(y, yˆ), yˆ = Cxˆ, (50.33)
where Ed is a user-chosen function to insure convergence in the presence of uncertainties modeled by nonzero ξ in Equation 50.31.
