Sliding mode free analysis of linear systems with discontinuous on-off type actuators

On-off type discontinuous actuator is widely used in application due to its simplicity in the mechanics and high efficiency of energy consumption. Chattering phenomenon, which is primarily induced by sliding mode motion, often happens in such systems and deteriorates the system performance. Therefore, chattering avoidance is very important for such systems. In this paper, a condition is derived which guarantees that the forward solution is unique and sliding mode free.