Chattering reduction using modified switching function

Chattering is endemic on most control schemes involving discontinuous energy effectors. This led to the formation of Discontinuous control law formulations to facilitate stability and tracking most natural dynamic systems with demonstrated discontinuous arguments. Thus, the use of variable structure theory enables the controllers evolve new dynamic characteristics that ensures stability as impacts the switching logic. This work modifies the dynamic switching functions for better performance by reducing the chattering on the control surface. Comparing the modified controller response with the conventional switching control function, it gives reduced chattering margins and control signals.