A New Approach to Boundary Layer Design in Sliding Mode Control without Chattering

In this paper, we present a new method for designing continuous sliding mode controller (SMC with desired error bound and without chattering. This method is a new approach to the boundary layer control that is based on defining a new control input signal which causes the states of the system attract inside the boundary layer. The proposed design methodology  results in removing the chattering and guaranties the tracking error remains within a desired tracking error bound. So the attractive properties of SMC such as invariance and simplicity in design and concept are reserved