Abstract
In this article, by means of a parametrization leading to a single gain, a tuning method is proposed to simplify the implementation of the well-known super-twisting algorithm. Furthermore, inspired by ideas from the high-gain observer design, and using a Lyapunov approach, the stability analysis of the closed-loop system is presented. Thanks to a simple Lyapunov function, sufficient conditions are obtained to prove the finite-time convergence. Finally, the performances of the proposed strategy are illustrated experimentally on a permanent-magnet synchronous motor (PMSM) using an industrial benchmark for generating the desired trajectories to be tracked, in presence of external disturbances.
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