Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 50, Issue 11, Pages 1785-1789Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2005.858636
Keywords
nonlinear observers; sliding modes
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The super-twisting second-order sliding-mode algorithm is modified in order to design a velocity observer for uncertain mechanical systems. The finite time convergence of the observer is proved. Thus, the observer can be designed independently of the controller. A discrete version of the observer is considered and the corresponding accuracy is estimated.
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