An Observer and a Controller based on the Sliding Mode theory have been developed for a mobile ground robot. After an introduction about the main control theory concepts, including classical control techniques such as Proportional Integral Derivative (PID), additional considerations about the utility and use of observers in practical cases are provided. The theory of sliding mode is presented and analyzed in terms of performance, stability and convergence. The mathematical stability of the control and observation algorithm is studied making use of Lyapunov theory. The Observer and Controller design is based on the kinematic model of the unicycle. Matlab and Simulink have been used as simulation environment in which a pre-existing vehicle model is present.