Super twisting observer based full order sliding mode control

In this paper, a super twisting observer-based full order sliding mode control is proposed for a non-linear uncertain system. The super twisting observer estimates an n-th system state and the derivative of the n-th system state. It ensures finite convergence of estimation error to zero. The proposed method retains attractive features of full order sliding mode control like finite-time convergence of system states, continuous control, and the system's full order dynamics when the system is in the sliding mode. The scheme is validated on a 2-DOF helicopter system laboratory setup, and the performance is compared with two well-known observers, i.e., a non-linear extended state observer and a sliding mode observer-based control using two-link manipulator example.