An integral extension technique for continuous homogeneous state‐feedback control laws preserving nominal performance

Richard Seeber*, Jaime A. Moreno

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


This paper proposes a technique to extend a nominal homogeneous state‐feedback control law by continuous or discontinuous integral terms. Compared to pure state feedback, this permits to suppress non‐vanishing perturbations that are either constant or Lipschitz continuous with respect to time. The proposed technique seeks to do this while maintaining nominal performance in the sense that the nominal control signal and closed‐loop behavior is not modified in the unperturbed case. The class of controllers thus obtained is shown to include the well‐known super‐twisting algorithm as a special case. Simulations comparing the technique to other approaches demonstrate its intuitive tuning and show a performance preserving effect also in the perturbed case.
Original languageEnglish
Pages (from-to)3480-3498
Number of pages19
JournalInternational Journal of Robust and Nonlinear Control
Issue number9
Publication statusPublished - Jun 2021


  • Finite-time convergence
  • Integral extension
  • Nonlinear control
  • Sliding mode control
  • State feedback
  • Weighted homogeneity
  • nonlinear control
  • sliding mode control
  • weighted homogeneity
  • finite-time convergence
  • state feedback
  • integral extension

ASJC Scopus subject areas

  • Mechanical Engineering
  • Aerospace Engineering
  • Chemical Engineering(all)
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering
  • Biomedical Engineering

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