AI 中文总结
该研究重新仿真并在硬件上实现滑模与浸入不变性观测器，发现超螺旋观测器性能更优，Cervantes-Perez等人的增益过量导致其观测器出现颤振。
AI 中文摘要
Cervantes-Pérez等人（arXiv:2601.12545）基于实验声称，以Davila、Fridman和Poznyak的滑模（SM）观测器为典型例子，高增益注入在实际中不可行。我们采用显式欧拉积分，时间步长Δt为1 ms和0.1 ms，重新仿真了他们的被控对象、轨迹和增益，并在独立硬件上实现了两种观测器。我们得到三项发现：i）控制器增益k_p=1600、k_v=1100将跟踪误差极点置于“病态”位置-1.455和-1098.5（阻尼比ζ=13.7）；超螺旋方案落在所得标称响应上，且在50倍范围内对其自身观测器增益不变；ii）浸入不变性（I&I）余量随k_v单调变化，在k_v≈170附近反转，此时回路极点与诱导观测器极点在-9.0 rad/s处交叉；iii）采样步长细化10倍，所有I&I指标数值变化3倍，而SM指标仅变化0.2%。在硬件上，基于符号函数的超螺旋观测器按Levant-Moreno扰动界调参，在ISE、ITAE和ISC三个指标上同时优于I&I，且在60美元电机（配0.043°编码器、500 Hz运行）上无明显颤振；Cervantes-Perez等人的增益超出该规定两个数量级，他们报告的颤振正是这种过量增益的设计结果。
英文摘要
Cervantes-Pérez et al. (arXiv:2601.12545) claim, on experimental grounds, that high-gain injection is practically inadmissible, taking the SM observer of Davila, Fridman & Poznyak as a prototypical example. We re-simulate their plant, trajectory and gains with explicit Euler integration at Δt = 1 ms and 0.1 ms, and implement both observers on independent hardware. We got three findings: i) the controller gains k_p=1600, k_v=1100 place the tracking-error poles at the "pathological" locations -1.455 and -1098.5 (ζ= 13.7); the super-twisting scheme lands on the resulting nominal response and is invariant to its own observer gain over a fifty-fold range; ii) the I&I margin is monotone in k_v and reverses near k_v \approx 170, where the loop pole crosses the induced observer pole at -9.0 rad/s; iii) refining the sampling step tenfold moves every I&I figure by a factor of three, while the SM figures move by 0.2%. On hardware, a signum-based super-twisting observer tuned at the Levant-Moreno perturbation bound outperforms I&I on ISE, ITAE and ISC simultaneously, without audible chattering, on a $60 motor with a 0.043^\circ encoder at 500 Hz. The gains of Cervantes-Perez et al. exceed the same prescription by two orders of magnitude; the chattering the authors report is the designed consequence of that excess.
