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This paper proposes an efficient implementation for a continuous terminalalgorithm (CTA). Although CTA is a continuous version of the famous twistingalgorithm (TA), the conventional implementations of this CTA still suffer fromchattering, especially when the gains and the time-step sizes are selected verylarge. The proposed implementation is based on an implicit Euler method and ittotally suppresses the chattering. The proposed implementation is compared withthe conventional explicit Euler implementation through simulations. It showsthat the proposed implementation is very efficient and the chattering issuppressed both in the control input and output.

Chattering-Free Implementation of Continuous Terminal Algorithm with Implicit Euler Method