Variable gains super-twisting algorithm: A Lyapunov based design

In this paper we propose a novel Lyapunov based design of a variable gain super-twisting algorithm ensuring global finite time convergence to the desired sliding surface for linear time invariant systems with absolutely continuous matched uncertainties/disturbances bounded together with their gradients by known functions. The proposed methodology makes the control strategy global like in the variable gains first order sliding mode control but also provides chattering phenomenon alleviation. Obtained results are experimentally verified with the rotary Furuta´s pendulum.