This chapter deals with the time discretization of variable-structure differentiatorsVariable structure differentiator with discontinuous (i.e., set-valued) parts. The explicit and implicit time-discretization schemes are developed for a specific type of variable-structure differentiatorVariable structure differentiator, i.e., arbitrary-order super-twisting differentiatorSuper-twisting differentiator. The causal implementation and some properties of the implicit discretizationImplicit discretization are studied analytically, e.g., finite-time convergence, numerical chattering suppression, exactness, gain insensitivity, and accuracy. These properties are validated in the open-loop configuration using numerical simulations. Furthermore, a laboratory setup, namely, a rotary inverted pendulum available at the INRIA Centre at the University of Lille, has been considered as the benchmark to study the behavior of the discretization methods in closed-loop control systems in practice. The experimental results are in accordance with the ones obtained from the analytical calculations and numerical simulations.


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    Titel :

    Effect of Euler Explicit and Implicit Time Discretizations on Variable-Structure Differentiators


    Weitere Titelangaben:

    Studies in Systems, Decision and Control


    Beteiligte:
    Oliveira, Tiago Roux (Herausgeber:in) / Fridman, Leonid (Herausgeber:in) / Hsu, Liu (Herausgeber:in) / Mojallizadeh, Mohammad Rasool (Autor:in) / Brogliato, Bernard (Autor:in)


    Erscheinungsdatum :

    01.11.2023


    Format / Umfang :

    16 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch






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