Proper implicit discretization of the super-twisting controller—without and with actuator saturation

Richard Seeber*, Benedikt Andritsch

*Korrespondierende/r Autor/-in für diese Arbeit

Publikation: Beitrag in einer FachzeitschriftArtikelBegutachtung

Abstract

The discrete-time implementation of the super-twisting sliding mode controller for a plant with disturbances with bounded slope, zero-order hold actuation, and actuator constraints is considered. Motivated by restrictions of existing implicit or semi-implicit discretization variants, a new proper implicit discretization for the super-twisting controller is proposed. This discretization is then extended to the conditioned super-twisting controller, which mitigates windup in presence of actuator constraints by means of the conditioning technique. It is proven that the proposed controllers achieve best possible worst-case performance subject to similarly simple stability conditions as their continuous-time counterparts. Numerical simulations and comparisons demonstrate and illustrate the results.

Originalspracheenglisch
Aufsatznummer112027
FachzeitschriftAutomatica
Jahrgang173
DOIs
PublikationsstatusVeröffentlicht - März 2025

ASJC Scopus subject areas

  • Steuerungs- und Systemtechnik
  • Elektrotechnik und Elektronik

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