Discrete-time twisting controller without numerical chattering: analysis and experimental results with an implicit method

Abstract : In this note, we present an implementation of the twisting controller on an electropneumatic plant for a tracking control problem. Implicit and explicit discrete-time twisting controllers are considered, and some implementation details are provided. Experimental results are provided and analyzed. They sustain the theoretical superiority of the implicitly discretized version, as shown in previous work. The main advantages of the implicit method are better tracking and drastic reduction in the input and output chattering. This is achieved without modifying the controller structure compared to its continuous-time version.
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CDC 2014 - IEEE 53rd Annual Conference on Decision and Control, Dec 2014, Los Angeles, United States. IEEE, pp.4373-4378, 2014, 〈10.1109/CDC.2014.7040071〉
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Olivier Huber, Vincent Acary, Bernard Brogliato, Franck Plestan. Discrete-time twisting controller without numerical chattering: analysis and experimental results with an implicit method. CDC 2014 - IEEE 53rd Annual Conference on Decision and Control, Dec 2014, Los Angeles, United States. IEEE, pp.4373-4378, 2014, 〈10.1109/CDC.2014.7040071〉. 〈hal-01066689〉

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