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In this paper, a discrete time sliding mode observer design for a linear time invariant system is considered. Continuous time sliding mode observer design is also discussed and summarized as a theorem for a direct implementation in the original state space realization of the given plant. Simulation of a linearized truck-semitrailer during a lane change maneuver illustrates the approach. Results show the effectiveness and finite time convergence characteristics of the proposed discrete and continuous time sliding mode observers.
Haskara et al. (Tue,) studied this question.