Regularization of non-overshooting quasi-continuous sliding mode control for chattering suppression at equilibrium

Abstract: Robust finite-time feedback controller introduced for the second-order systems in [1] can be seen as a non-overshooting quasi-continuous sliding mode control. The paper proposes a regularization scheme to suppress inherent chattering due to discontinuity of the control [1] in the origin, in favor of practical applications. A detailed analysis with ISS and iISS proofs are provided along with supporting numerical results.