Chatter reduction in sliding mode tuner controller using skipping surface

TRIUMF ISAC 1 tuning controllers operate using minimum seeking sliding mode controller to minimize the reflected power in their cavities. As with all mini-mum seeking algorithms, chatter present in the control-ler can degrade its performance and cause necessary mechanical wear. By observing the rate at which the minimizing function approaches the sliding surface, it is possible to determine whether a change in direction is necessary, thereby reducing the amount of chatter throughout the minimum seeking process.