On the behaviour of under-tuned super-twisting sliding mode control loops

This paper investigates the stability properties and performance of super-twisting sliding-mode control loops subject to periodic perturbations. Although there exist conditions on gains that guarantee finite-time closed-loop system, such are often too restrictive from a practical standpoint, especially in relation actuator limitations induced chatter. Using regularisation averaging theory, it is proven under milder for gains, trajectories periodically perturbed system converge stable limit cycle same period containing origin. Additionally, guidelines selecting controller provided based bounds states. Finally, theoretical findings validated through simulations.