Hi all,
I would appreciate clarification on the following related questions about super twisting control algorithm:
1. I understand ideal or smooth SMC (e.g., saturation function approximation) are applicable only for matched disturbances. How about super twisting SMC? Can it handle unmatched disturbances by it's very design, or needs to be augmented with backstepping to do so? A good resource or link on this is also appreciated.
2. Clear cut differences between smooth SMC and standard super twisting algorithm. In my current understanding, two aspects are of concern here: a). how smooth is the robust control input. b). how precise can we get our performance (i.e., ultimate boundedness) close to ideal SMC. Am I correct?
3. A good place to learn and implement super twisting control algorithm on a simple system.
Thank you.
Dear Suraj,
I suggest to you a link and attached files in topics.
-IET Digital Library: IET Control Theory & Applications
digital-library.theiet.org/content/journals/iet-cta/9/4
Best regards
Thank you Viswanath for your useful answer. Do you mind bettet clarifying your#3, i.e., drawback of sat function is that inavriance is compromised in the boundary later? As far as I have studied it, this is not true since the trajectories are guaranteed to lie within the boundary layer after finite time convergence by the use of sat functionSMC. Thank you
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