
Saunder January 22, 2014 10:43 K15053˙Book
Chapter 9
Linear/Nonlinear
Disturbance
Observer-Based Sliding
Mode Control for
Systems with Mismatched
Uncertainties
9.1 Introduction
Sliding-mode control has been widely studied for over 50 years and widely em-
ployed in industrial applications due to its conceptual simplicity, and in particular,
powerful ability to reject disturbances and plant uncertainties [120, 121, 122]. It is
noticed that most of the existing results on sliding surface design are concentrated
on the matched uncertainties attenuation since the sliding motion of traditional
SMC is only insensitive to matched uncertainties [123] but sensitive ...