On implementing the implicit discrete‐time super‐twisting observer on mechanical systems

In this paper, an extension of algorithm for the implicit discretization a super-twisting sliding mode observer is presented. Implicit and explicit algorithms homogeneous differentiators, where no physical model information considered, are investigated in literature. This article studies behavior when considering models rather general class nonlinear systems. The discrete equations reformulated as generalized equation step-by-step solution given. uniqueness derived with equivalent variational inequality formulation which Furthermore, semi-implicit predictor-corrector presented approximation method allows implementation practical applications. Accuracy properties under noise sampling applied on two mechanical example systems taken from practice.