# MIMO Super-Twisting Controller using a passivity-based design

arXiv: https://arxiv.org/abs/2208.04276 · HTML: https://mlsanity.com/paper/2208.04276/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Aug 2022.

## Built on by (most cited first, 1 of 1)

- [AI-Driven approach for sustainable extraction of earth's subsurface renewable energy while minimizing seismic activity](https://mlsanity.com/paper/2408.03664/) (2024)

## Abstract (arXiv)

A novel MIMO homogeneous Super-Twisting Algorithm is proposed in this paper for nonlinear systems with relative degree one, having a time and state-varying uncertain control matrix. The uncertainty is represented by a constant but unknown left matrix factor. Sufficient conditions for stability with full-matrix control gains are established, in contrast to the usual scalar gains. For this a smooth Lyapunov function, based on a passivity interpretation, is used. Moreover, continuous and homogeneous approximations of the classical discontinuous Super-Twisting algorithm are obtained, using a unified analysis method.