On implementing the implicit discrete-time super-twisting observer on mechanical systems

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In this paper, an extension of an algorithm for the implicit discretization of a super-twisting sliding mode observer is presented. Implicit and explicit discretization algorithms for homogeneous differentiators, where no physical model information is considered, are investigated in literature. This article studies the behavior when considering models of a rather general class of nonlinear systems. The discrete equations of the super-twisting observer are reformulated as generalized equation and an algorithm for the step-by-step solution is given. The uniqueness of the derived algorithm is investigated with an equivalent variational inequality formulation which is derived for a class of nonlinear systems. Furthermore, a semi-implicit predictor-corrector discretization is presented which is an approximation method for the presented algorithms and allows an explicit implementation in practical applications. Accuracy properties under noise and sampling are given. The algorithm is applied on two mechanical example systems taken from practice.

Original languageEnglish
Pages (from-to)7532-7562
Number of pages31
JournalInternational Journal of Robust and Nonlinear Control
Issue number13
Publication statusPublished - 10 Sept 2023


  • implicit discrete-time implementation
  • mechanical system
  • numerical algorithm
  • robust state estimation
  • super-twisting algorithm


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