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In this paper, it is proposed a method for controlling chaotic systems; where the main goal is to obtain a periodic behaviour for a chaotic system. In our approach, the system to control is considered as a black-box, and therefore it is not necessary to know a mathematical model of the system, only experimental measurements are used. Our method employs pulses with adjustable amplitude and width, and it is implemented in discrete time. In order to generate pulses control, a variable Poincare section is used; which is computed online using a moving average sampling signal. Measurement noise is considered too, by means of an additional controller parameter (hold-off time), resulting that controller tuning is made using four parameters: proportional gain, sampling time, pulse width and hold-off time. In order to test the proposed method, computer simulations with several representative chaotic systems (Lorenz, Chua, Chen, Colpitts and others) are carried out and satisfactory results are obtained.