In this paper, we propose a decoupled approach to the design of a robust sliding mode observer. The proposed observer has a linear part, which is designed based on the linear observer theory, and a discontinuous part based on the sliding mode technique to reject the disturbance signals. Here, the discontinuous injection of output error is fed only to the sliding mode part of the observer, whereas the linear part is designed with the linear injection of output error. We state the sufficient condition which guarantees the existence of the proposed sliding mode observer. The main outcome of this design is that the steady-state accuracy of the observer is improved from that of the existing ones, where the full order discontinuous output error vector is injected into the observer dynamics. These switching terms in discrete dynamics often result in numerical chattering, which is attenuated in our proposed observer. We also show the global convergence of estimation error for this observer in the presence of disturbance. Finally, we demonstrate the design technique of the proposed sliding mode observer with an example.

在本文中，我们提出了一种解耦方法来设计稳健的滑模观察器。所提出的观测器有一个线性部分，它是基于线性观测器理论设计的，以及一个基于滑模技术的不连续部分，用于抑制干扰信号。这里，输出误差的不连续注入仅馈送到观察器的滑动模式部分，而线性部分设计为输出误差的线性注入。我们陈述了保证所提出的滑模观测器存在的充分条件。这种设计的主要结果是观察器的稳态精度比现有的改进，其中全阶不连续输出误差向量被注入到观察器动态中。离散动力学中的这些切换项通常会导致数值抖动，这在我们提出的观察器中会减弱。我们还展示了在存在干扰的情况下该观察者的估计误差的全局收敛性。最后，我们通过一个例子演示了所提出的滑模观测器的设计技术。