Chattering comparison between continuous and discontinuous sliding-mode controllers

This chapter is devoted to comparison of chattering parameters in systems with stable actuators driven by discontinuous sliding-mode controllers (DSMC) and continuous sliding-mode controllers (CSMC), namely, by the discontinuous first-order sliding-mode controller (FOSMC) and the continuous super-twisting algorithm (STA). Taking into account the amplitude and frequency of fast oscillations (chattering), and the average power (AP) needed to keep the system into real sliding modes, proposed analysis allows to make the following conclusions: (a) for systems with slow actuators, the amplitude of oscillations and AP produced by the FOSMC be smaller than those one caused by the STA; (b) for bounded disturbances with fixed Lipschitz constant, there exist sufficiently fast actuators for which the amplitude of oscillations and AP produced by the FOSMC be greater than those one caused by the STA. On the other …