Implementation of Super-Twisting Control on Higher Order Perturbed Integrator System using Higher Order Sliding Mode Observer

Abstract

This paper presents the implementation of super-twisting control (STC) on nth-order perturbed integrator system using higher order sliding mode observer (HOSMO). It is shown that if nth-order SMO is used, either super-twisting algorithm structure is not achieved using continuous controller or the resulting controller is discontinuous. The discontinuous control action is not desirable for practical applications. A method for implementing STC using (n+1) th-order SMO is proposed. The controller proposed based on this observer design is continuous. Sliding surface is designed for handling relative degree problem and the controller is designed such that second order sliding mode (SOSM) is achieved on the sliding surface. Simulation results are also shown using practical example of Insulin-Glucose regulation dynamical model to illustrate the effectiveness of the proposed method.