The chattering problem in sliding mode control is the one of the most common handicaps for applying to real applications. To deal with this problem, the boundary layer approach is widely used. However, this method bring a finite steady state error. Accordingly, we propose a novel sliding mode control without chattering. The proposed sliding mode control removes the chattering phenomenon by replacing a sign function with a continuous function. Also, it is designed to move the state to the sliding surface in finite time without chattering. The proposed control algorithm is derived from the Lyapunov stability theorem. Several simulation results show that the proposed sliding mode controller has non-chattering phenomenon with satisfactory performance.