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The implicit discretization of the super-twisting sliding-mode control algorithm

Authors
  • Brogliato, Bernard
  • Polyakov, Andrey
  • Efimov, Denis
Publication Date
Jan 01, 2019
Identifiers
DOI: 10.1109/TAC.2019.2953091
OAI: oai:HAL:hal-02336599v1
Source
HAL-SHS
Keywords
Language
English
License
Unknown
External links

Abstract

This paper deals with the analysis of the time-discretization of the super-twisting algorithm, with an implicit Euler method. It is shown that the discretized system is well-posed. The existence of a Lyapunov function with convex level sets is proved for the continuoustime closed-loop system. Then the global asymptotic Lyapunov stability of the unperturbed discrete-time closedloop system is proved. The convergence to the origin in a finite number of steps is proved also in the unperturbed case. Numerical simulations demonstrate the superiority of the implicit method with respect to an explicit discretization with significant chattering reduction.

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