LAUSR

Abstract This paper proposes state & disturbance estimation of discrete time system. Digital implementation demands information of states in discrete. Disturbance is considered as an additional state to formulate observer for extended state system. It is shown that the discrete observer for extended state system (DESO) provides fairly accurate estimate of system states & disturbance. Utkin’s law is used to synthesize discrete sliding mode control which is augmented further to compensate effect of disturbance. This method is used to achieve robust motion control. Effectiveness of this method is demonstrated through simulation & experiments.