This paper presents an observer-based discrete variable structure controller for linear multivariable systems with unnmatched additive uncertainties, an extension of the re-sults reported in [12] to the output feedback case. It is shown that the incorporation of a prediction observer with uncertainty estimation into the controller guarantees the at-tractiveness and invariance of the estimated boundary layer, which is dynamic and parallel to the sliding hyperplane, aftrer a transient. As in the state feedback case~1, linear control design strategies are applicable to the tracking error dynamics design inside the estimated boundary layer under an eigenvalue constraint. A numerical example is used to illustrate the proposed technique.
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