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I have following system

$$

m\dot{v} = F_x\\

J\dot{\omega} = T - F_x R_e\\

$$

It is the the equation motion of a wheel. Where following are known

$$ J, \dot{v} , \dot{\omega}, T, F_x$$

The not known variable is the R_e . it can be calculated at the beginning using sensors and stuff but my task is to observe the changes in R. Where it is done I think I can use the same procedure to observe $$Fx$$. I have been looking at multiple article dealing with slide mode observer. However I can get start and begin writing or programming since I'm very unsecure. Anyone here can give me some hints?

This is not a homework and I appritiate any help.

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# Slide mode observer of an unknown input in a nonlinear system

Can you offer guidance or do you also need help?

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