Chattering-free sliding mode fuzzy control with continuous inherent boundary layer

A sliding-mode fuzzy controller (SMFC) was designed based on the principles of sliding mode control. Then, the concept of an input-output mapping factor was used to tune the parameters and the density of the controller´s input and output membership functions. The tuned controller behaved like a linear controller in the neighborhood of the sliding manifold, and the chattering problem was eliminated. Furthermore, the controller was insensitive to system parameter variations and disturbances. To illustrate the SMFC´s performance, we used this controller to stabilize an inverted pendulum in its upright position, starting from various initial conditions