Abstract
The output tracking of arbitrary references problem for discrete-time linear perturbed systems in the case of error-feedback and unknown external disturbances is solved approximately. A state observer is designed for the steady state error system based on the plant model and considering the tracking error as a measurable system output. Discrete super-twisting algorithm is used to design the robust sliding mode control. The main application of these techniques are the non-minimum phase systems, therefore, simulations show the effectiveness of the proposed techniques in this kind of systems.
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