Design of Robust Supertwisting Algorithm Based Second-Order Sliding Mode Controller for Nonlinear Systems with Both Matched and Unmatched Uncertainty

Table 1

The performances of the different structures of STA.

Structure	Overshoot	Settling time
Classical STA	5.5%	33.8 s
Modified STA	6.52%	19 s
Novel modified STA	1.1%	18 s