Nonsingular Fast Terminal Sliding Mode Control with Extended State Observer and Disturbance Compensation for Position Tracking of Electric Cylinder

Figure 11

Tracking performance comparison of Case 1. Case 1 refers to the situation when the load of the system is the only vehicle.

(a) (NFTSM)

(b) (PID)

(c) (Comparison curve of z1 to x1)

(d) (The estimation value of disturbance)