title: Super-twisting sliding mode differentiation for improving PD controllers performance of second order systems.
abstract: Designing a proportional derivative (PD) controller has as main problem, to obtain the derivative of the output error signal when it is contaminated with high frequency noises. To overcome this disadvantage, the supertwisting algorithm (STA) is applied in closed-loop with a PD structure for multi-input multi-output (MIMO) second order nonlinear systems. The stability conditions were analyzed in terms of a strict non-smooth Lyapunov function and the solution of Riccati equations. A set of numerical test was designed to show the advantages of implementing PD controllers that used STA as a robust exact differentiator. The first numerical example showed the stabilization of an inverted pendulum. The second example was designed to solve the tracking problem of a two-link robot manipulator.
authors.affiliation: Centro de Investigación en Computación, Instituto Politécnico Nacional, Mexico city, Mexico. Electronic address: ijesusr@gmail.com.
authors.forename: Ivan
authors.initials: I
authors.lastname: Salgado
authors.affiliation: Unidad Profesional Interdisciplinaria de Biotecnología, Instituto Politécnico Nacional, Av. Acueducto de Guadalupe s/n. Col. La Laguna Ticoman, Mexico city, Mexico. Electronic address: jchairez@ctrl.cinvestav.mx.
authors.forename: Isaac
authors.initials: I
authors.lastname: Chairez
authors.affiliation: Centro de Investigación en Computación, Instituto Politécnico Nacional, Mexico city, Mexico. Electronic address: oscarc@cic.ipn.mx.
authors.forename: Oscar
authors.initials: O
authors.lastname: Camacho
authors.affiliation: Centro de Investigación en Computación, Instituto Politécnico Nacional, Mexico city, Mexico. Electronic address: cyanez@cic.ipn.mx.
authors.forename: Cornelio
authors.initials: C
authors.lastname: Yañez
mesh_terms: D000465:Algorithms; D003198:Computer Simulation; D005246:Feedback; D008962:Models, Theoretical; D017711:Nonlinear Dynamics
keywords: PD controller; Signal differentiation; Sliding modes