Boundary Layer Eigenvalues in SISO Discrete-Time Sliding Mode Control with Observer
Journal of Dynamic Systems, Measurements, and Control
A result that allows us to specify the sliding manifold in observer based discrete-time sliding mode control is presented. Selection of coefficients is done by analyzing the tracking error dynamics inside the boundary layer, where the closed-loop system has a linear state feedback configuration, rather than assuming that ideal sliding occurs. The result facilitates assignment of eigenvalues for the system matrix which defines such linear dynamics.
Richter, H., and Misawa, E. A., 2006, "Boundary Layer Eigenvalues in SISO Discrete-Time Sliding Mode Control with Observer," Journal of Dynamic Systems, Measurement, and Control, 128(3) pp. 729-730.