Variable structure system (VSS) control is widely used for motor control systems, but the undesired phenomenon of chattering is a serious problem. These chattering problems can be eliminated by replacing a smooth control interpolation in a boundary layer neighboring a sliding surface. By this method, a steady-state error may exist. According to application of fuzzy set theory, fuzzy-sliding mode control (FSMC) based on the principle of sliding mode theory was developed. The main advantages of fuzzy sliding mode control are rapid response, good transient behaviour, insensitivity to variations in plant parameters and external disturbance, and elimination of the steady-state error. The proposed method is capable of handling the chattering problem inherent in sliding-mode control simply and effectively. Hence FSMC can remedy the problems in sliding mode control.
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