Analysis of chattering in continuous sliding-mode controllers

I. Boiko, L. Fridman

Research output: Contribution to journalArticlepeer-review

316 Scopus citations


An analysis of two most popular continuous sliding-mode algorithms: The power-fractional sliding-mode algorithm and a second-order sliding-mode algorithm known as the super-twisting is carried out in the frequency domain with the use of the describing function method. It is shown that in the presence of an actuator, the transient process converges to a periodic motion. Parameters of this periodic motion are analyzed. A few examples are considered to illustrate the obtained results.

Original languageBritish English
Pages (from-to)1442-1446
Number of pages5
JournalIEEE Transactions on Automatic Control
Issue number9
StatePublished - Sep 2005


  • Chattering
  • Relay control
  • Sliding-mode (SM)
  • Variable structure systems


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