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This paper provides a novel surface design and experimental evaluation of asuper-twisting algorithm (STA) based control for hydraulic cylinder actuators.The proposed integral sliding surface allows to track a sufficiently smoothreference without using the velocity state which is hardly accessible in thenoisy hydraulic systems. A design methodology based on LMI's is given, and theSTA gains are designed to be adjusted by only one free parameter. Thefeasibility and effectiveness of the proposed control method are shown on astandard hydraulic test bench with one linear degree of freedom and passiveload, where a typical motion profile is tracked with a bounded average errorbelow 1 % from the total drive effective output.

Super-twisting based sliding mode control of hydraulic actuator without velocity state