Conditioned Super-Twisting Algorithm for systems with saturated control action

Richard Seeber*, Markus Reichhartinger

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


The super-twisting algorithm is a robust sliding-mode control law, which in the case of a saturated control input suffers from a windup effect. This contribution proposes a modified control law that is obtained by mitigating windup by means of the conditioning technique. Closed-loop stability is analyzed for bounded and Lipschitz continuous perturbations acting on a first-order linear time-invariant plant. Advantages compared to existing approaches are demonstrated both analytically, in terms of stability conditions, and numerically, in the course of simulations. An experiment considering the control of a servomotor demonstrates the practical usability, straightforward implementation and simple tuning of the proposed controller.
Original languageEnglish
Article number108921
Number of pages9
Publication statusPublished - Jun 2020


  • sliding mode control
  • robust control
  • control input saturation
  • windup
  • conditioning technique
  • servomotors
  • Robust control
  • Windup
  • Sliding-mode control
  • Conditioning technique
  • Control input saturation
  • Servomotors

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering


Dive into the research topics of 'Conditioned Super-Twisting Algorithm for systems with saturated control action'. Together they form a unique fingerprint.

Cite this