A Discrete-time Sliding Mode Estimator with Adaptive Sliding Surface

Feedback signals of mechatronic control systems are usually uncertain and noisy because of the measurement errors and environmental disturbances. Toward this problem, this paper presents a new discrete-time sliding mode estimator that employs an adaptive sliding surface by balancing the tradeoff between the smoothness of estimating and the suppression of phase lag. The advantage of the new estimator is validated through a numerical example.