New approach to chattering analysis in systems with sliding modes

A chattering phenomenon as a low frequency oscillation in systems with sliding modes is analyzed via the describing functions technique. It is proposed to design a sliding surface to provide the passivity condition to the open loop dynamics of a modeled plant. It is shown that first order stable lag unmodeled dynamics does not imply chattering in a real sliding mode. A sliding mode controller design algorithm was developed in order to avoid chattering for the case of high order stable lag unmodeled dynamics.