Pneumatic actuator control: Solution based on adaptive twisting and experimentation

Mohammed Taleb, Arie Levant, Franck Plestan

Research output: Contribution to journalArticlepeer-review


An adaptive version of the twisting algorithm is proposed, which actually presents a new second-order sliding-mode algorithm. Due to the dynamic adaptation of the gains the controller design does not require complete information on the bounds of uncertainties and perturbations. It automatically decreases the gains and respectively also the dangerous oscillations due to a too large discontinuous-control magnitude. Thus, both the performance and the accuracy of the closed-loop system are improved. In order to show the feasibility of the approach, the methodology is successfully applied to control the position of a pneumatic actuator in an experimental setup.

Original languageEnglish
Pages (from-to)727-736
Number of pages10
JournalControl Engineering Practice
Issue number5
StatePublished - May 2013


  • Gain adaptation
  • Pneumatic actuator
  • Second order sliding mode control


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