Discrete-time sliding mode controller design with state estimator and disturbance observer

In this paper, a discrete-time output feedback sliding mode controller for a class of MIMO linear systems with matched disturbances is proposed. Both a state estimation and a disturbance observer are included in the control scheme so that the system states and the upper bound of disturbance are not required. It is shown that the tracking error will be constrained in a small bounded region, and the system stability is guaranteed. Finally, a numerical example is presented to demonstrate the applicability of the proposed control scheme.