Chattering measurement in SMC and HOSMC

The amplitude, frequency and energy dissipation of oscillations caused by the presence of a second order actuators in the systems driven by main sliding mode controllers are analyzed. The simulation results confirms, that discontinuous sliding mode controllers generate bounded energy dissipation, but continuous sliding mode controllers produce infinitesimal energy dissipation. On the other hand, it is shown that slow actuators can generate oscillations of lower amplitude when applying discontinuous sliding mode controllers with respect to continuous ones.