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Finite Time Stabilization of a Perturbed Double Integrator—Part I: Continuous Sliding Mode-Based Output Feedback Synthesis

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3 Author(s)
Orlov, Y. ; Electron. & Telecom munication Dept., CICESE Res. Center, San Diego, CA, USA ; Aoustin, Y. ; Chevallereau, C.

The twisting and supertwisting algorithms, generating important classes of second order sliding modes (SOSMs), are well-recognized for their finite time stability and robustness properties. In the present paper, a continuous modification of the twisting algorithm and an inhomogeneous perturbation of the supertwisting algorithm are introduced to extend the class of SOSM's that present the afore-mentioned attractive features. Thus modified, the twisting and supertwisting algorithms are utilized in the state feedback synthesis and, respectively, velocity observer design, made for the finite time stabilization of a double integrator if only output measurements are available. Performance and robustness issues of the resulting output feedback synthesis are illustrated by means of numerical simulations.

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Automatic Control, IEEE Transactions on  (Volume:56 ,  Issue: 3 )