A state-dependent boundary layer design for sliding mode control

Min Shin Chen, Yean Ren Hwang, Masayoshi Tomizuka

Research output: Contribution to journalArticlepeer-review

147 Scopus citations


The use of a boundary layer in sliding-mode control has been a common technique to reduce chattering of the control signal. However, different choices of the boundary layer width lead to conflicting effects: a large/small boundary layer width can more/less effectively alleviate the chattering phenomenon, but leads to less/more accurate control results. This note proposes online adjusting the width of the boundary layer based on the state norm for an uncertain linear system. The proposed state-dependent boundary layer design can effectively eliminate chattering while at the same time ensuring almost perfect control accuracy.

Original languageEnglish
Pages (from-to)1677-1681
Number of pages5
JournalIEEE Transactions on Automatic Control
Issue number10
StatePublished - Oct 2002


  • Boundary layer control
  • Chattering
  • Control Accuracy
  • Sliding mode control
  • Variable structure system


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