  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.
