A novel sliding mode control with unstable surfaces

In this paper, a novel sliding mode method is proposed to suppress the chattering phenomenon with unstable surfaces. Unlike the conventional sliding mode control methods, these unstable surfaces are utilized to design an available sliding mode structure. The main idea of this method is to design a sliding mode controller following a new reaching condition with unstable auxiliary surfaces. Based on this idea, we might find a new way to design a large number of different sliding mode controllers to solve the chattering problem of sliding mode method. The simulation results are given to illustrate the benefits and properties of the proposed method.