MIMO Super-Twisting Controller: A new design

We propose a novel MIMO Super-Twisting control algorithm based on passivity properties. The differences with most known MIMO algorithms are: the control terms are not of unity-type, the control matrix may be uncertain and the gain matrices can be full, instead of the usual scalar gains. A smooth Lyapunov function is used instead of the usual non-smooth one. Two examples with uncertain control matrices are presented to illustrate the unique properties of the proposed controllers, together with a comparison with other known schemes.