A chattering elimination algorithm for sliding mode control

It is well known that sliding mode control is capable of tackling systems with uncertainties. However, the discontinuous control signal causes a significant problem of chattering. An algorithm is proposed in this paper to eliminate chattering by removing the discontinuous control signal when the system is operating near the sliding plane. The transient performance as well as the robustness properties will not be affected and zero steady-state error is ensured. Mathematical derivation of the algorithm is detailed and the algorithm is applied to a system with parameter uncertainties to show its ability and merits.