The Chattering Analysis

This paper presents analysis of the chattering and a new approach of the chattering suppression. The chattering caused by the unmodeled dynamics is discussed and analyzed by the Lyapunov method and the describing function approach. It is shown that the amplitude of chattering depends on the magnitude of discontinuous control. To reduce the chattering, new sliding mode control design is proposed using the methods of changing switching gain along the system states or the magnitude of equivalent control. To support the methods, simulation results are provided.