A new integral type sliding surface (ISM) is design for sampled-data systems for output tracking. ISM surface design is based on Output Feedback with a State Observer. Discrete-time control based on ISM achieves good tracking performance while allowing the pole assignment of m poles, which are otherwise zero in a deadbeat design. In particular, the new scheme can avoid overlarge control actions by avoiding the deadbeat response inherent in conventional sliding mode control designed for sampled-data systems. It will be shown in this work that, the discrete-time version of the sliding mode control based on the integral type sliding surface has O(T~2) tracking error for output tracking. An experimental example demonstrates the validity of the proposed scheme.
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