Parallel compensators for systems controlled by twisting algorithm

The paper presents a way to improve the behavior of systems controlled by Second Order Sliding Modes in the presence of disturbances and parasitic dynamics. This is done through the addition of a parallel compensator to the twisting controller. The behavior of the system is improved by increasing the equivalent gain of the Second Order Sliding Mode. When the parallel compensator is added to the system the equivalent gain is increased, thereby increasing the robustness of the controller against coupled disturbances. The analysis of the system is carried out via the Locus of a Perturbed Relay System (LPRS) methodology. Simulations and experimental results are presented.