https://www.selleckchem.com/ High-performance control of inertial stabilization imaging sensors (ISISs) is always challenging because of the complex nonlinearities induced by friction, mass imbalance, and external disturbances. To overcome this problem, a terminal sliding mode controller (TSMC) based on a novel exponential reaching law (NERL) method with a high-order terminal sliding mode observer (HOTSMO) is suggested. First, the TSMC based on NERL is adopted to improve system performance. The NERL incorporates the power term and switching gain term of the system state variables into the conventional exponential reaching law, and the convergent speed of the TSMC is accelerated. Then, an HOTSMO is designed, which considers the speed and lumped disturbances of the system as the observation object. The estimated disturbance is then provided as a compensation for the controller, which enhances the disturbance rejection ability of the system. Comparative simulation and experimental results show that the proposed method achieves the best tracking performance and the strongest robustness than PID and the traditional TSMC methods.Biodiesel derived from biomass is a renewable source of fuel, and global application of biodiesel in the transport sector has rapidly expanded over the last decade. However, effort has been made to overcome its main shortcoming, i.e., efficiency and exhaust emission characteristics (NOx emissions) in unmodified diesel engines. Biodiesel combustion generally results in lower unburned hydrocarbons (HC), carbon monoxide (CO), and particulate matter (PM) in exhaust emissions compared to fossil diesel. In this study, various biodiesel blends (Chlorella vulgaris, Jatropha curcus, and Calophyllum inophyllum) were investigated for fuel characteristics, and engine performance with exhaust emission compared to diesel. Chlorella vulgaris, Jatropha curcus, and Calophyllum inophyllum biodiesel were synthesized by the acid-base transesterification approach in a