A chattering elimination algorithm for sliding mode control

L.K. Wong, Hung Fat Frank Leung, P.K.S. Tam

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic research


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 to be detailed. This algorithm is applied to a system with parameter uncertainties to show its ability and merits.
Original languageEnglish
Title of host publication[Missing Source Name from PIRA]
ISBN (Print)0780327756
Publication statusPublished - 1996


  • Algorithms
  • Control system synthesis
  • Errors
  • Performance
  • Robustness (control systems)


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