“…Fixed switching frequency improves performance even though chattering does not disappear. This is important in real applications, and to achieve this, some techniques have been developed: adaptive hysteresis band (Ruiz et al, 1990), (Yao and Holmes, 1993), (Pinheiro et al, 1994), signal injection with a selected frequency (Pinheiro et al, 1994), (Silva and Snia, 1993), (Malesani et al, 1996), (Nicolas et al, 1996), zero average current in each iteration (ZACE) (Borle and Chemmangot, 1995) and recently zero average error dynamics in each iteration (ZAD). ZAD control scheme, recently proposed in , tries to conjugate the advantages of fixed frequency implementations and the inherent robustness of sliding control modes.…”