LIBRARY

SuperTwistingSMC

Discrete-time super-twisting sliding mode controller.

The super-twisting algorithm is a second-order sliding mode controller that achieves finite-time convergence to the sliding surface s = 0 while reducing chattering compared to first-order sliding mode controllers.

The control law is:

where s is the sliding variable (provided as input), k is the control gain, and k2 is a tuning parameter for the integral term. The integrator ξ is discretized using forward Euler.

Connectors:

• s: Sliding variable input (computed externally based on the system's switching function)

• y: Control signal output

Parameters:

• k: Control gain

• k2: Tuning parameter for the integral term

Usage

DiscreteComponents.SuperTwistingSMC(k=1, k2=0.5)

Parameters:

Name	Description	Units	Default value
Ts		–	SampleTime()
initialization		–	DiscreteCom...t(; y0=0.0)
k	Control gain	–	1
k2	Tuning parameter for integral term	–	0.5

Connectors

• s - This connector represents a real signal as an input to a component (RealInput)

• y - This connector represents a real signal as an output from a component (RealOutput)

Variables

Name	Description	Units
p	Super-twisting proportional term	–
xi	Integrator state	–

Behavior

Source

"""
Discrete-time super-twisting sliding mode controller.

The super-twisting algorithm is a second-order sliding mode controller that achieves finite-time convergence to the sliding surface `s = 0` while reducing chattering compared to first-order sliding mode controllers.

The control law is:
```math
u = -\\sqrt{k |s|} \\operatorname{sign}(s) + \\xi
```
```math
\\dot{\\xi} = -k_2 k \\operatorname{sign}(s)
```

where `s` is the sliding variable (provided as input), `k` is the control gain, and `k2` is a tuning parameter for the integral term. The integrator `ξ` is discretized using forward Euler.

# Connectors:
- `s`: Sliding variable input (computed externally based on the system's switching function)
- `y`: Control signal output

# Parameters:
- `k`: Control gain
- `k2`: Tuning parameter for the integral term
"""
component SuperTwistingSMC@[input clk extends Discrete]
  "Sliding variable input"
  s = RealInput@[clk]() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -100, "y1": 450, "x2": 0, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  "Control signal output"
  y = RealOutput@[clk]() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 1000, "y1": 450, "x2": 1100, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  structural parameter Ts::Real = SampleTime()
  "Control gain"
  parameter k::Real = 1
  "Tuning parameter for integral term"
  parameter k2::Real = 0.5
  structural parameter initialization::InitialCondition = DiscreteComponents.InitialCondition.InitialOutput(y0 = 0.0)
  "Super-twisting proportional term"
  variable p::Real
  "Integrator state"
  variable xi::Real
relations
  p = -sqrt(k * abs(s)) * sign(s)
  xi@clk = xi@(clk-1) + Ts * (-k2 * k * sign(s))
  y = p + xi
  switch initialization
    case InitialOutput
      initial xi@(clk-1) = initialization.y0 + sqrt(k * abs(s@clk)) * sign(s@clk) + Ts * k2 * k * sign(s@clk)
    case SteadyState
      initial xi@(clk-1) = error("SteadyState initial condition is not supported for SuperTwistingSMC; use InitialOutput or InitialState")
    case InitialState
      initial xi@(clk-1) = initialization.x0
  end
metadata {
  "Dyad": {"icons": {"default": "dyad://DiscreteComponents/SuperTwistingSMC.svg"}}
}
end

Flattened Source

"""
Discrete-time super-twisting sliding mode controller.

The super-twisting algorithm is a second-order sliding mode controller that achieves finite-time convergence to the sliding surface `s = 0` while reducing chattering compared to first-order sliding mode controllers.

The control law is:
```math
u = -\\sqrt{k |s|} \\operatorname{sign}(s) + \\xi
```
```math
\\dot{\\xi} = -k_2 k \\operatorname{sign}(s)
```

where `s` is the sliding variable (provided as input), `k` is the control gain, and `k2` is a tuning parameter for the integral term. The integrator `ξ` is discretized using forward Euler.

# Connectors:
- `s`: Sliding variable input (computed externally based on the system's switching function)
- `y`: Control signal output

# Parameters:
- `k`: Control gain
- `k2`: Tuning parameter for the integral term
"""
component SuperTwistingSMC
  "Sliding variable input"
  s = RealInput@[clk]() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -100, "y1": 450, "x2": 0, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  "Control signal output"
  y = RealOutput@[clk]() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 1000, "y1": 450, "x2": 1100, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  structural parameter Ts::Real = SampleTime()
  "Control gain"
  parameter k::Real = 1
  "Tuning parameter for integral term"
  parameter k2::Real = 0.5
  structural parameter initialization::InitialCondition = DiscreteComponents.InitialCondition.InitialOutput(y0 = 0.0)
  "Super-twisting proportional term"
  variable p::Real
  "Integrator state"
  variable xi::Real
relations
  p = -sqrt(k * abs(s)) * sign(s)
  xi@clk = xi@(clk-1) + Ts * (-k2 * k * sign(s))
  y = p + xi
  switch initialization
    case InitialOutput
      initial xi@(clk-1) = initialization.y0 + sqrt(k * abs(s@clk)) * sign(s@clk) + Ts * k2 * k * sign(s@clk)
    case SteadyState
      initial xi@(clk-1) = error("SteadyState initial condition is not supported for SuperTwistingSMC; use InitialOutput or InitialState")
    case InitialState
      initial xi@(clk-1) = initialization.x0
  end
metadata {
  "Dyad": {"icons": {"default": "dyad://DiscreteComponents/SuperTwistingSMC.svg"}}
}
end

Test Cases

No test cases defined.

Related

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