On Output Tracking Using Dynamic Output Feedback Discrete-Time Sliding-Mode Controllers

In this note, an output feedback based discrete-time sliding-mode control scheme is proposed. It incorporates a steady-state tracking requirement through the use of integral action. Previous work has shown that with an appropriate choice of sliding surface, discrete-time sliding-mode control can be applied to nonminimum phase systems. The original scheme employed static output feedback and this imposed restrictions on the class of systems to which it was applicable - specifically a certain "fictitious" subsystem was required to be output feedback stabilizable. The scheme proposed in this note includes a compensator which broadens the class of systems for which the results are applicable. In the presence of bounded matched disturbances, ultimate boundedness results are obtained. It is also shown that in the presence of a class of sector bounded uncertainty, asymptotic stability can be achieved.