Chattering alleviation in variable structure control systems

High frequency chattering about the sliding line in variable structure control systems is undesirable in practice. In this paper, a method is proposed to eliminate this chattering. The system is allowed to switch once on crossing the switching line, after which the trajectory follows a path that closes in on the slower eigenvector. The loss of speed is compensated for by tailoring the eigenvector (achieved by feedback design) such that the eigenvalues are sufficiently negative. Theoretical analysis is confirmed by simulations.