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

1. Feb 1, 2017

### Payam30

Hi
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.