Electrical Engineering and Systems Science > Systems and Control
[Submitted on 23 Jun 2024 (v1), last revised 13 Dec 2024 (this version, v2)]
Title:Proper Implicit Discretization of the Super-Twisting Controller -- without and with Actuator Saturation
View PDF HTML (experimental)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.
Submission history
From: Richard Seeber [view email][v1] Sun, 23 Jun 2024 12:22:38 UTC (135 KB)
[v2] Fri, 13 Dec 2024 17:49:21 UTC (331 KB)
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