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 systemssubjectedto disturbanceforces.Ithasbeenassumed thatthenumberofstatesisgreaterthan thenumberof sensors.Theslidingmodecontrollawisdesignedto berobusttoexternaldisturbancesprovidedtheirupperbounds 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.