Sliding mode control with new switching function

A new switching function is constructed to weaken chattering and keep robustness of the sliding mode control. The control structure switching should occur when movement trend of system state changed relative to the switching surface. This will guarantee that different control structures have equal output on the switching surface. The new switching function introduces pseudo-sliding surface, and a nonlinear control structure has also been adopted for eliminating chattering in pseudo-sliding mode. Comparisons of the simulation experiments show that the new method has great advantages comparing with other traditional methods and the nonlinear control structure is more effective than linear structure.