Uncertainty and disturbance estimation using inertial delay observer with integral-sliding mode control

In this research, different control strategies are studied viz. Sliding Mode Control (SMC), Integral sliding Mode Control (I-SMC) and Inertial Delay Observer (IDO) for the evaluation of uncertainty and perturbation for Anti-Lock Braking System (ABS) model. Sliding mode control is used to show the invariance, means response of the system will be insensitive to system parameter. States and disturbances are estimated through inertial delay observer and control law designed by use of (I-SMC). Here we don't have the knowledge of road surfaces and the bounds of uncertainty and disturbances. Despite of this we proved stability of overall system and validated simulation. Validation of result is carried out on MATLAB/Simulink.