Chattering analysis

Arie Levant*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


A formal mathematical definition of chattering is proposed. Chattering phenomena are classified into three types. In particular, the first type is harmless and cannot be avoided. Chattering properties of various control approaches are considered. The dangerous second and third types of chattering phenomena are proved to be removable by proper use of high-order sliding-modes (HOSM). Fast stable actuators and sensors only generate the first type of chattering in HOSM systems and practically never affect the sliding motion. Computer simulation confirms the theoretical results.

Original languageEnglish
Article number5404431
Pages (from-to)1380-1389
Number of pages10
JournalIEEE Transactions on Automatic Control
Issue number6
StatePublished - Jun 2010


  • Chattering effect
  • High-order sliding mode
  • Homogeneity
  • Variable structure systems


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