Robust control with simultaneous state and disturbance estimation using sliding modes

This paper presents simultaneous estimation of states and disturbance. The output estimation error is made zero in finite time due to sliding modes. The estimated disturbance is used to compensate the disturbance acting in the system. The sliding mode control together with these estimations is studied and analyzed. A DC servo motor is considered as a plant for which the above method is used. The method is validated in simulation and experiment both.

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