Grewal, M. S., and Andews, A. P., 2001, "*Kalman Filtering Theory and Practice*", 2nd ed., Wiley Inter-Science, New York.

Haykin, S., 1984, "*Introduction to Adaptive Filters*", Macmillam, London.

Kailath, T., 1974, “A Review of Three Decades of Linear Filtering Theory,” IEEE Trans. Inf. Theory

[CrossRef], IT-20 (2), pp. 146–181.

Kailath, T., 1980, "*Linear Systems*", Prentice-Hall, Englewood, NJ..

Habibi, S. R., and Burton, R., 2003, “The Variable Structure Filter,” J. Dyn. Syst., Meas., Control

[CrossRef], 125 , pp. 287–293.

Habibi, S. R., and Burton, R., 2002, “The Variable Structure Filter,” "*Proc. of the 2002 ASME Mechanical Engineering Congress and Exposition*", New Orleans, November, Fluid Power Systems and Technology Division, Vol. 9 , pp. 157–165.

Kalman, R. E., 1960, “A New Approach to Linear Filtering and Prediction Problems,” ASME J. Basic Eng., 82 , pp. 35–45.

Brown, R. G., and Hwang, P. Y. C., 1997, "*Introduction to Random Signals and Applied Kalman Filtering*", 3rd ed., Wiley, New York.

Elbert, T. F., 1984,"*Estimation and Control of Systems, Van Nostrand Reinhold Company*", Princeton NJ.

McGee, L. A., and Schmidt, S. F., 1985, “Discovery of the Kalman Filter as a Practical tool for Aerospace and Industry,” *National Aeronautics and Space Administration, Technical Memorandum 86847*.

Fillipov, A. F., 1969, “Differential Equation with Discontinuous Right Hand Side,” Am. Math. Soc. Transl., 62 , pp. 199–215.

Utkin, V. I., 1978, “Sliding Mode and Their Application in Variable Structure Systems,” Mir, Moscow, (English translation).

Utkin, V. I., 1977, “Variable Structure Systems With Sliding Mode: A Survey,” IEEE Trans. Autom. Control

[CrossRef], 22 , pp. 212–222.

Utkin, V. I., 1992, "*Sliding Modes in Control Optimization*", Springer-Verlag, Berlin.

Dorling, C. M., 1985, “The Design of Variable Structure Control Systems,” "*Manual for the VASSYD CAD Package*", Dept. Appl. and Comput. Math. , Univ. Sheffield, UK.

Dorling, C. M., and Zinober, A. S., 1987, “Robust Hyperplane Design in Multivariable Variable Structure Control Systems,” Int. J. Control, 48 , pp. 2048–2054.

Ryan, E. P., and Corless, M., 1984, “Ultimate Boundedness and Asymptotic Stability of a Class of Uncertain Dynamical Systems Via Continuous and Discontinuous Feedback Control,” IMA J. Math. Control Inf., 1 , pp. 223–242.

Morgan, R. G., and Ozguner, U., 1983, “A Decentralised Variable Structure Control Algorithm for Robotic Manipulators,” IEEE J. Rob. Autom., RA-1 (1), pp. 314–324.

Yeung, K. S., and Chen, V. P., 1988, “A New Controller Design for Manipulators Using the Theory of Variable Structure Systems,” IEEE Trans. Autom. Control

[CrossRef], 33 (2), pp. 200–206.

Habibi, S. R., and Richards, R. J., 1992, “Sliding Mode Control of an Electrically Powered Industrial Robot,” IEE Proc.-D: Control Theory Appl., 139 (2), pp.207–225.

Asada, H., and Slotine, J. J. E., 1986, "*Robot Analysis and Control*", Wiley, New York.

Bailey, E., and Arapostathis, A., 1987, “Simple Sliding Mode Control Scheme Applied to Robot Manipulators,” Int. J. Control, 45 (4), pp. 1197–1209.

Slotine, J. J. E., 1984, “Sliding Controller Design for Nonlinear Systems,” Int. J. Control, 40 (2), pp. 421–434.

Slotine, J. J. E., 1985, “The Robust Control of Robot Manipulators,” Int. J. Robot. Res., 4 (2), pp. 49–64.

Buhler, H., 1986, "*Reglage par mode de glissement*", Press Polytechnique Romande.

Milosavlejic, C., 1985, “General Conditions for the Existence of a Quasi-Sliding Mode on the Switching Hyperplane in Discrete Variable Structure Systems,” Autom. Remote Control (Engl. Transl.), 46 , pp. 307–314.

Sarpturk, S. Z., Istefanopoulos, Y., and Kaynak, O., 1987, “On the Stability of Discrete-Time Sliding Mode Control Systems,” IEEE Trans. Autom. Control

[CrossRef], 32 , pp. 930–932.

Furuta, K., 1990, “Sliding Mode Control of a Discrete System,” Syst. Control Lett.

[CrossRef], 14 , pp. 145–152.

Sira-Ramirez, H., 1991, “Non-Linear Discrete Variable Structure Systems in Quasisliding Mode,” Int. J. Control, 54 , pp. 1171–1187.

Gao, W., Wang, Y., and Hoamifa, A., 1995, “Discrete Variable Structure Control Systems,” IEEE Trans. Ind. Electron., 40 (2), pp. 117–122.

Iordanou, H. N., Surgenor, B. W., and Pieper, J. K., 1995, “Study on Performance Improvement of Discrete Sliding Mode Control,” "*Proc. American Control Conf.*", June, Seattle, WA, Vol. 2 , pp. 1533–1537.

Bartolini, G., Ferrara, A., and Utkin, V. I., 1995, “Adaptive Sliding Mode Control in Discrete-Time Systems,” Automatica, 21 , pp. 769–773.

Tesfaye, A., and Tomizuka, M., 1995, “Robust Control of Discretized Continuous Systems Using the Theory of Sliding Mode,” Int. J. Control, 62 , pp. 814–819.

Hasakara, I., Ozguner, U., and Utkin, V. I., 1997, “Variable Structure Control for Uncertain Sampled Data Systems,” "*Proc. IEEE Conf. on Decision and Control*", San Diego, California, December, Vol. 4 , pp. 3226–3231.

Drakunov, S., and DeCarlo, R., 1997, “Discrete-Time/Discrete-Event Sliding Mode Design via Lyapunov Approach,” "*Proc. Amer. Control Conf.*", San Diego, California, December, Vol. 3 , pp. 3226–3231.

Misawa, E. A., 1997, “Discrete-Time Sliding Mode Control for Nonlinear Systems With Uncertain Uncertainties and Uncertain Vector Control,” J. Dyn. Syst., Meas., Control, 119 , pp. 503–512.

Won, M., and Hedrick, J. K., 2001, “Disturbance Adaptive Disctrete-Time Sliding Control With Application to Engine Speed Control,” J. Dyn. Syst., Meas., Control

[CrossRef], 123 (1), pp. 1–9.

Kaynak, O., and Denker, A., 1993, “Discrete-Time Sliding Mode Control in the Presence of System Uncertainty,” Int. J. Control, 57 (5), pp. 1177–1189.

Slotine, J. J. E., and Hedrick, J. K., and Misawa, E. A., 1987, “On Sliding Observers for Nonlinear Systems,” J. Dyn. Syst., Meas., Control, 109 (3), pp. 245–252.

Walcott, B. L., and Zak, S. H., 1988, “Combined Observer-Controller Synthesis for Uncertain Dynamical Systems With Applications,” IEEE Trans. Syst. Man Cybern.

[CrossRef], 18 , pp. 88–104.

Edwards, C., and Spurgeon, S. K., 1994, “On the Development of Discontinu-ous Observers,” Int. J. Control, 59 (5), pp. 1211–1229.

Xu, J. X., Jia, Q. W., and Lee, T. H., 2000, “On the Design of a Nonlinear Adaptive Variable Structure Derivative Estimator,” IEEE Trans. Autom. Control

[CrossRef], 45 (5), pp. 1028–1033.

Drakunov, S. V., 1992, “Sliding Mode Observers Based on Equivalent Control Method,” "*Proc. IEEE 31st Conf. Decision Control*", Tucson, AZ, December 16–18, pp. 2368–2369.

Xiong, Y., and Seif, M., 2001, “Sliding Mode Observer for Nonlinear Uncertain System,” IEEE Trans. Autom. Control

[CrossRef], 46 (12), pp. 2012–2017.

Haskara, I., Ozguner, U., and Utkin, V., 1998, “On Sliding Mode Observers via Equivalent Control Approach,” Int. J. Control

[CrossRef], 71 (6), pp. 1051–1067.

Korondi, P., Hashimoto, H., and Utkin, V., 1997, “Direct Torsion Control of Flexible Shaft in an Observer-Based Discrete-Time Sliding Mode,” IEEE Trans. Ind. Electron., 45 (2), pp. 1141–1145.

Lohmiller, W., and Slotine, J. J. E., 2005, “Contraction Analysis of Nonlinear Distributed Systems,” Int. J. Control, 78 (9), pp. 678–688.

Lohmiller, W., and Slotine, J. J. E., 2000, “Control System Design for Mechanical Systems Using Contraction Theory,” IEEE Trans. Autom. Control, 45 (5), pp. 984–989.

Nise, N. S., 2000, "*Control Systems Engineering*", 3rd ed., Wiley, New York.