Continuous Fixed-Time Controller Design for Mechatronic Systems With Incomplete Measurements

This paper presents a continuous fixed-time observer-based controller driving all states of an n-dimensional chain of integrators to the origin for a finite pre-established (fixed) time using a scalar input when only the highest relative degree state can be measured. The uniform upper bound for the controller convergence time is calculated. Performance of the developed controller is demonstrated in two case studies, stabilizing an industrial armature-controlled dc motor (stable system) and controlling a cart inverted pendulum (unstable system).