Design and hardware implementation of model following sliding mode control with inertial delay observer for uncertain systems

This paper proposes the design and implementation of model following sliding mode control strategy based on an inertial delay observer. This observer estimates the states as well as the uncertainties and disturbances in an integrated manner. It is shown that when modeling uncertainties and disturbances are present in the system, it gives better results compared with classical proportional observer. Lastly, the proposed approach is validated through experimentation on Quanser's servo plant SRV-02. Results show the effectiveness of the combination the controller-observer designed using inertial delay observer.