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Obtaining prescribed accuracy bounds in super-twisting sliding mode controlloops often falls short in terms of the applicability of the controller inhigh-performance systems. This is due to the fact that the selection of thecontroller gains that are derived from the conditions for finite-timeconvergence may be too restrictive in connection to actuator limitations andinduced chatter. Previous work has shown that in case of periodicperturbations, there can be a systematic selection of much lower controllergains that guarantees boundedness of the closed-loop solutions withinpredetermined accuracy bounds. This study presents an experimental validationof these findings carried out on a commercial industrial motor system.

Towards Prescribed Accuracy in Under-tuned Super-Twisting Sliding Mode Control Loops -- Experimental Verification