On the design of a nonlinear adaptive variable structure derivative estimator

@article{Xu2000OnTD,
  title={On the design of a nonlinear adaptive variable structure derivative estimator},
  author={Jian-Xin Xu and Qing-Wei Jia and Tong Heng Lee},
  journal={IEEE Trans. Automat. Contr.},
  year={2000},
  volume={45},
  pages={1028-1033}
}