Non-linear state feedback control for uncertain systems using a finite time disturbance observer

This paper develops a non-linear state feedback control for a non-linear system affected by parametric uncertainty and external disturbance. The parametric uncertainty and external disturbance are estimated as a lumped disturbance using a finite time disturbance observer. By designing the non-linear state feedback control based on a finite time disturbance observer, the proposed method counters the effect of lumped disturbance and ensures the system states’ finite-time convergence. The performance of the proposed scheme is compared with a sliding mode controller using a third-order non-linear uncertain system example. The proposed scheme is implemented on a hardware setup of a 2-DOF Helicopter system.