fractional order sliding mode observer-based control in the presence of faults

A successfully validated and precise system model would greatly enhance the performance of the controller, making system identification a major procedure in control system design. the inverted pendulum is a highly nonlinear and open-loop unstable system that makes control more challenging. in this paper, at first, a novel fractional order sliding mode observer (fosmo) is designed to estimate the state space of the rotary inverted pendulum, and after that, a fractional sliding fault estimation is proposed. the proposed observer had high accuracy and speed in fault and state observation because of the advantages of fractional calculus and the sliding mode observer method. the proposed observer is compared with the classical sliding mode observer