An information signal embedded in a chaotic transmitter can be recovered by a receiver if it is a replica of the transmitter. In this chapter, an aspect of chaotic communication is introduced. A sliding-mode observer replaces the conventional chaotic system at the receiver side, which does not need information from the transmitter, so the uncertainties in the transmitter and the transmission line do not affect the synchronization. The proposed communication scheme is robust with respect to some disturbances and uncertainties. Three chaotic systems, the Duffing equation, Van der Pol oscillator, and Chua's circuit, are provided to illustrate the effectiveness of the chaotic communication.