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Fixing the switching frequency is a key issue in sliding mode control implementations. This paper presents a hysteresis band controller capable of setting a constant value for the steady-state switching frequency of a sliding mode controller in regulation and tracking tasks. The proposed architecture relies on a piecewise linear modeling of the switching function behavior within the hysteresis band, and consists of a discrete-time integral-type controller that modifies the amplitude of the hysteresis band of the comparator in accordance with the error between the desired and the actually measured switching period. For tracking purposes, an additional feedforward action is introduced to compensate the time variation of the switching function derivatives at either sides of the switching hyperplane in the steady state. Stability proofs are provided, and a design criterion for the control parameters to guarantee closed-loop stability is subsequently derived. Numerical simulations and experimental results validate the proposal.

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