Convergence Time Bounds for a Family of Second-Order Homogeneous State-Feedback Controllers

Richard Seeber*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


This letter studies a family of second-order homogeneous state-feedback controllers, which includes the well-known twisting algorithm as a special case. Upper bounds for the closed loop's convergence time are proposed that may be computed analytically for any values of the positive controller parameters. Numerical comparisons show that the bound approximates the actual convergence time to within a factor of two over a large parameter range.
Original languageEnglish
Article number9103505
Pages (from-to)1018-1023
Number of pages6
JournalIEEE Control Systems Letters
Issue number4
Publication statusPublished - Oct 2020


  • Homogeneity
  • Finite-time convergence
  • Lyapunov methods
  • Variable-structure/sliding-mode control
  • finite-time convergence
  • variable-structure/sliding-mode control

ASJC Scopus subject areas

  • Control and Optimization
  • Control and Systems Engineering

Fields of Expertise

  • Information, Communication & Computing


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