Optimal Tuning of the Saturated Super-Twisting Algorithm

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The saturated super-twisting algorithm is a sliding-mode control law for robust control in the presence of a saturated control input. It can in principle reject arbitrary bounded and Lipschitz continuous perturbations, and features a control signal that is continuous except for a single jump discontinuity. Its tuning requires the choice of a Lyapunov function from a family of quadratic functions. This choice determines the maximum amplitude of perturbations that are guaranteed to be rejected and the magnitude of the control signal’s discontinuity. This contribution proposes a procedure for choosing an optimal Lyapunov function that permits to maximize the available perturbation amplitude and minimize the discontinuity’s magnitude.
Original languageEnglish
Title of host publication18th European Control Conference (ECC)
ISBN (Electronic)978-3-907144-01-5
Publication statusPublished - 2019
Event18th European Control Conference - Naples, Italy
Duration: 25 Jun 201928 Jun 2019


Conference18th European Control Conference
Abbreviated titleECC


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