A finite time estimator using integrations for perturbed second order mechanical systems *

HAL 2026 Preprint Open access

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Authors: Thierry Floquet
Cited by: 0

Abstract

This paper presents a novel approach to the finite-time observation of perturbed (possibly) nonlinear mechanical systems using only integrals of the measurement. The proposed estimator is based on algebraic integration approach (i.e., iterated integrals) requiring no differentiation and using only a small number of tuning gains. Numerical simulations are performed for a second-order pendulum system in a position reference trajectory tracking task.

Fields of Study & Subjects

Adaptive Control of Nonlinear Systems Stability and Control of Uncertain Systems Control Systems and Identification

Publication details

Journal / source
HAL
Publication date
30 January 2026
Language
EN
Document type
Preprint