Chattering attenuation in sliding mode control systems

In this paper sliding mode control systems arc considered and a new technique to attenuate chattering is proposed. The technique employs simple , first-order dynamical devices , i.e . an integrator or a low-pass filter, to compensate in part for unknown and changing dist urbance. As a result of this compensation, the magnitnde of the discontinuous control term is essentially reduced. The term docs not depend on the admissible distmbance or its change ra te, but only on the uncerta in ty of the distmba nce at the initia l time t = t0 . The technique proposed in this paper attenuates the undesirable chattering without any deterioration of the system performance.