Sliding Mode Control of Mechanical Systems with Bounded Disturbances via Output Feedback

In this paper, a new sliding mode output feedback algorithm is developed to control the vibration of mechanical systems subjected to disturbance forces. It has been assumed that the number of states is greater than the number of sensors. The sliding mode control law is designed to be robust to external disturbances provided their upper bounds are known. A boundary layer has been introduced around each sliding hyperplane to eliminate the chattering phenomenon. The results from numerical simulations are presented to corroborate the validity of the proposed controller.