This paper deals with Predictive Sliding Mode Control (PSMC) that uses Laguerre functions in the design of a control input signal. Two types of PSMC algorithms are considered: one originating from the digital equivalent control method approach, and another containing an additional sliding mode control component that provides the robustness and determines the system dynamics in reaching mode. A one-step-delayed disturbance estimator is introduced to account for system nonlinearities and unknown disturbances, as well as to ensure better system steady-state accuracy. The proposed algorithms are demonstrated by conducting several real-time experiments on a modular DC servo system. Robustness of the closed loop, affected by tuning parameter values, is demonstrated as well.