The super-twisting algorithm is a robust sliding-mode control law, which in the case of a saturated control input suffers from a windup effect. This contribution proposes a modified control law that is obtained by mitigating windup by means of the conditioning technique. Closed-loop stability is analyzed for bounded and Lipschitz continuous perturbations acting on a first-order linear time-invariant plant. Advantages compared to existing approaches are demonstrated both analytically, in terms of stability conditions, and numerically, in the course of simulations. An experiment considering the control of a servomotor demonstrates the practical usability, straightforward implementation and simple tuning of the proposed controller.

超扭曲算法是一种鲁棒的滑模控制律，在饱和控制输入的情况下，这种规律会受到缠绕效应的影响。该贡献提出了一种修改后的控制律，该控制律是通过使用调节技术减轻缠绕而获得的。分析了作用在一阶线性时不变植物上的有界和Lipschitz连续扰动的闭环稳定性。与现有方法相比，在稳定性条件方面进行了分析证明，在仿真过程中进行了数值验证。考虑伺服电机控制的实验证明了所提出的控制器的实用性，简单的实现和简单的调整。