Document Type



To reduce chattering in sliding-mode control, a boundary layer around the switching surface is used, and a continuous control is applied within the boundary. The effects of various control laws within the boundary layer on chattering and error convergence in different systems are studied. New functions for chattering reduction and error convergence inside the boundary layer are proposed which are discontinuous in magnitude but not in sign. The internal model principle has been used to generalize the design for the class of nonlinear systems being considered.


©1996 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

UNLV article access

Find in your library