Output feedback adaptive twisting control: A Lyapunov design

A novel finite time convergent output feedback adaptive-gain twisting controller with adaptive super-twisting observer in the feedback path is proposed. The adaptive controller is robust to the bounded disturbance with the unknown boundary. The proposed Lyapunov-based method exhibits features like finite time stability and adaptation along with robustness. An ideal or real second order sliding mode is established in finite time with no overestimation of the controller and observer gains. A numerical example confirms the efficacy of the proposed method.