In this paper we present a technique of discrete-time sliding mode controller design for assigning eigenvalues of sliding mode and determining a convergence rate to sliding surface. First the sliding mode coefficient is designed via Ackermann s formula. Then a linear controller is designed to enforce sliding mode such that the resulting closed loop yields the desired eigenvalues. As we use a linear control instead of nonlinear control, chattering is nearly eliminated. Simulation and experimental results are included to show the effectiveness of the proposed method for Laser Marking System.