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Finite Time Stabilization of a Double Integrator - Part I: Continuous Sliding Mode-based Position Feedback Synthesis

The twisting and supertwisting algorithms, generating important classes of second order sliding modes (SOSM's), are well-recognized for their finite time stability and robustness properties. In the present paper, a continuous modification of the twisting algorithm and an inhomogeneous perturbation of the supertwisting algorithm are introduced to extend the class of SOSM's that present the aforementioned attractive features. Thus modified, the twisting and supertwisting algorithms are utilized in the state feedback synthesis and, respectively, velocity observer design, made for the finite time stabilization of a double integrator if only position measurements are available. Performance and robustness issues of the resulting output feedback synthesis are illustrated by means of numerical simulations.