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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.
|Title of host publication||18th European Control Conference (ECC)|
|Publication status||Published - 2019|
|Event||18th European Control Conference - Naples, Italy|
Duration: 25 Jun 2019 → 28 Jun 2019
|Conference||18th European Control Conference|
|Period||25/06/19 → 28/06/19|