A smooth second-order sliding mode controller for relative degree two systems

@article{Iqbal2010ASS,
  title={A smooth second-order sliding mode controller for relative degree two systems},
  author={Saeed Iqbal and Christopher Edwards and A. I. Bhatti},
  journal={IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society},
  year={2010},
  pages={2379-2384}
}
A novel smooth second order sliding mode controller based on a modified “twisting” algorithm for relative degree two systems is discussed to provide robustness as well as accuracy. A robust exact observer is introduced in the closed loop system to reject the drift signals. A Lyapunov method combined with homogeneity concept is used to prove finite time stability of the overall system. The method is verified through simulations on a benchmark example of a DC motor. 
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