Chattering and stability analysis of the sliding mode control using inverse hyperbolic function

Abstract

Chattering is a known issue in sliding mode control (SMC) and much research has been carried out to mitigate the chattering and its effects. In this work the chattering and stability analysis of the inverse hyperbolic function (IHF) based reaching law (RL) has been carried out. The work mathematically formulates the reaching time and calculates the describing function (DF) for the IHF based RL, which is used to formulate the conditions for chattering avoidance. The bound for the gain of RL has been calculated that will result in the chattering avoidance. Finally the proposed scheme has been used to control the speed of DC motor. Experimental results show avoidance of chattering and reduction in the reaching time.