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

Table 5

The main parameters of theodolite rotating system.

System parameters	Symbol	Size
Rated motor voltage/V		9
Motor armature resistance/Ω		2.76
Motor torque coefficient/Nm/A		1.2
Viscous friction coefficient		0.2
Counter voltage factor		0.7
System moment of inertia/Kgm^2		0.2
Coulomb friction/Nm		2.0
Coulomb stiction/Nm		2.6
Stribeck velocity		0.06
Number of pole pairs		4
Motor EMF coefficient/V/(rad/s)		0.7
Sampling time/sec		0.001