Settling Time Estimate for a Second Order Sliding Mode Controller: A Homogeneity Approach
نویسندگان
چکیده
A novel homogeneity approach to obtain an upper bound on the settling time for a robust second order sliding mode controller is presented. The stability analysis is substantiated by a global non-smooth Lyapunov function. The proposed method is applied to the ‘twisting’ controller and is based on a combination of global exponential stability and global finite time stability of switched systems. The homogeneity regions are established and are graphically illustrated. Recommended tuning rules for the twisting controller are presented. The proposed framework does not depend on the differential inequality of the Lyapunov function and hence provides a new methodology for obtaining the upper bound on the settling time for exponentially stable homogeneous systems.
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