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In this paper, the extended state observer was applied to satisfy the high accuracy demand of the nonlinear dynamic inversion through compensating the uncertainty and disturbance of the nonlinear dynamic system as a total disturbance. The terminal sliding mode controller was adopted to assure the system converging fast and accurately. The effectivity and quickly converging of the proposal method was demonstrated by the simulation of the attitude control problem of the upper stage, with the comparison of other methods.

Design of Terminal Sliding Mode Controller Based on Nonlinear Dynamic Inversion