University of Tabriz Tabriz Journal of Electrical Engineering 2008-7799 50 1 2020 05 21 Designing an Adaptive Continuous Terminal Sliding Mode Controller for a Class of Nonlinear Systems in Presence of Perturbation Designing an Adaptive Continuous Terminal Sliding Mode Controller for a Class of Nonlinear Systems in Presence of Perturbation 9 17 10707 FA A. Barou Department of Electrical and computer Engineering, Babol Noshirvani University of Technology, Babol, Iran Z. Rahmani Department of Electrical and computer Engineering, Babol Noshirvani University of Technology, Babol, Iran S. Minagar Department of Electrical and computer Engineering, Babol Noshirvani University of Technology, Babol, Iran Journal Article 2018 02 24 In this paper, an adaptive continuous terminal sliding mode controller is proposed for a class of second-order time varying perturbed systems with unknown parameters. In the proposed method, the controller is a combination of  continuous terminal sliding mode control and adaptive control. The convergence of the proposed method is based on a continuously-differentiable, homogeneous and strict Lyapunov function, and the unknown parameter of the system is estimated by an adaptive law. Zero-error convergence  of the proposed method is attained with information about the output and its derivative; furthermore, in this method, perturbation is compensated and a continuous control signal is generated which reduces the chattering. The simulation results show proper performance of the proposed method. In this paper, an adaptive continuous terminal sliding mode controller is proposed for a class of second-order time varying perturbed systems with unknown parameters. In the proposed method, the controller is a combination of  continuous terminal sliding mode control and adaptive control. The convergence of the proposed method is based on a continuously-differentiable, homogeneous and strict Lyapunov function, and the unknown parameter of the system is estimated by an adaptive law. Zero-error convergence  of the proposed method is attained with information about the output and its derivative; furthermore, in this method, perturbation is compensated and a continuous control signal is generated which reduces the chattering. The simulation results show proper performance of the proposed method. https://tjee.tabrizu.ac.ir/article_10707_a40a8158f2736b1052adb4b1b025e5d1.pdf