Chattering-free sliding mode fuzzy control with continuous inherent boundary layer

A sliding-mode fuzzy controller (SMFC) was designed based on the principles of sliding mode control. Then, the concept of an input-output mapping factor was used to tune the parameters and the density of the controller's input and output membership functions. The tuned controller behaved like a linear controller in the neighborhood of the sliding manifold, and the chattering problem was eliminated. Furthermore, the controller was insensitive to system parameter variations and disturbances. To illustrate the SMFC's performance, we used this controller to stabilize an inverted pendulum in its upright position, starting from various initial conditions.