A newly proposed super-twisting backstepping sliding mode controller

Document Type : Research Paper


Department of Electrical Engineering, Mashhad branch, Islamic Azad University, Mashhad, Iran



The chattering phenomenon has been one of the most important controlling challenges in recent years, and efforts have been made to eliminate or control this phenomenon effectively, with various control strategies. In this article, a new super-twisting back-stepping sliding mode controller is proposed and to validate the performance of this controller, the outcomes of some well-known techniques are compared, in two aspects reducing tracking error and removing the chattering phenomenon. Also, a comparative analysis between control methods such as sliding mode,  feedback linearization and back-stepping control has been done in the sense of stability and convergence. The model discussed in this article is a non-linear, highly unstable system of the inverted pendulum. The results of applying the proposed controller on an inverted pendulum are compared in terms of the tracking speed, convergence time, error and chattering reduction. In addition, the stability analysis of the closed-loop system is presented according to the Lyapunov theorem. The results clearly show the efficiency of the proposed method not only in terms of stability and convergence improvement but also in reducing unwanted chattering.


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Articles in Press, Corrected Proof
Available Online from 25 April 2024
  • Receive Date: 19 June 2023
  • Revise Date: 31 October 2023
  • Accept Date: 09 November 2023