Observer based terminal sliding mode control

A new observer based terminal sliding mode control (TSMC) approach is proposed for a class of second order nonlinear systems which can be used to robotic manipulators, space crafts, satellites and so on. By using equivalent output injection sliding mode observer (SMO) method, the new designed TSMC can achieve finite-time stability. Corresponding stability analysis is presented. An indispensable illustrative example is bench tested to validate the effectiveness of the proposed approach.