Discrete-time twisting controller without numerical chattering: analysis and experimental results with an implicit method

In this note, we present an implementation of the twisting controller on an electropneumatic plant for a tracking control problem. Implicit and explicit discrete-time twisting controllers are considered, and some implementation details are provided. Experimental results are provided and analyzed. They sustain the theoretical superiority of the implicitly discretized version, as shown in previous work. The main advantages of the implicit method are better tracking and drastic reduction in the input and output chattering. This is achieved without modifying the controller structure compared to its continuous-time version.