Nonsingular Fast Terminal Sliding Mode Control with Extended State Observer and Tracking Differentiator for Uncertain Nonlinear Systems

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2014/639707/figures/639707.fig.0016a.svgz" name="639707.fig.0016a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Angle speed curves</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2014/639707/figures/639707.fig.0016b.svgz" name="639707.fig.0016b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Local zoom curves in speed steady state</td></tr></table>

<div>Comparison of angle speed curves.</div>

Mathematical Problems in Engineering

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Figure 16

Figure 16: Nonsingular Fast Terminal Sliding Mode Control with Extended State Observer and Tracking Differentiator for Uncertain Nonlinear Systems 